In this paper we analyze the development process of a smart knee orthosis that can monitor the bearer's movements and provide real-time feedback to aid the bearer's proper recovery after an injury. The develop...
详细信息
In this paper we analyze the development process of a smart knee orthosis that can monitor the bearer's movements and provide real-time feedback to aid the bearer's proper recovery after an injury. The develop...
In this paper we analyze the development process of a smart knee orthosis that can monitor the bearer's movements and provide real-time feedback to aid the bearer's proper recovery after an injury. The development process includes the 3D scanning of the patients knee joint, the 3D modeling of the orthosis, the 3D printing of the orthosis, the integration of IMU (Inertial Measurement Unit) sensors, the integration of the microcontroller and the implementation of the data acquisition and control. The implementation with the use of 3D printing parts will guarantee the best fit on the wearer's foot, offering increased comfort.
This paper presents the singularity analysis of a novel endoscopic surgical parallel manipulator. The 4-DOF, 2- PUU_2-PUS, surgical robot design has larger bending angles and workspace volume. All previous manipulator...
详细信息
ISBN:
(纸本)9781509025367
This paper presents the singularity analysis of a novel endoscopic surgical parallel manipulator. The 4-DOF, 2- PUU_2-PUS, surgical robot design has larger bending angles and workspace volume. All previous manipulators have a zero pitch and infinity pitch reciprocal screws, so it is easy to find out the singular configurations inside the workspace. On the other hand, the novel 4-DOF surgical robot (2-PUU_2-PUS) has h-pitch reciprocal screws. The known geometrical approach for reciprocal-screws could not provide all singular configurations of the novel manipulator. Geometrical/Analytical approach for reciprocal-screws based singularity analysis of 2-PUU_2-PUS is proposed. The proposed algorithm can find all singular configurations of any limited DOF parallel manipulator with h-pitch reciprocal screws. The results show the feasibility of the proposed algorithm to find all singular configurations of the 4-DOF parallel manipulator. The discovered singularity configurations shrieked greatly the singularity free workspace to one fourth the original workspace. In order to be able to work through the entire workspace, we suggest changing the topology structure of the manipulator.
This paper presents the design and implementation of the control system for the transformation/manipulation system that is used in a new Hybrid Ground Aerial Robot(HGAR).The transformation mechanism is used to transfo...
详细信息
ISBN:
(纸本)9781479919819
This paper presents the design and implementation of the control system for the transformation/manipulation system that is used in a new Hybrid Ground Aerial Robot(HGAR).The transformation mechanism is used to transform the robot from flying configuration to ground motion configuration and vice *** manipulator is attached to one of the four propeller arms to manipulate objects during ground *** controller is designed based on feedback linearization method.A simple algorithm is implemented on Arduino board for controlling the angle of the propeller arm with and without *** angle of the arm is controlled by propeller *** angle of the arm is measured by inertial measurement unit(IMU).The manipulator is controlled by *** configuration of the manipulator is determined using the joint-angles data and fed to the propeller arm controller to estimate the compensated *** addition,an integral term is added to the controller to introduce robustness against payload variation and parameters *** set up is built to apply the proposed controller on the system and test its ***,the experimental results showed the effectiveness and accuracy of the proposed controller.
暂无评论