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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Jing Luo Chenguang Yang Etienne Burdet Yanan Li School of Electrical and Information Engineering Changsha University of Science and Technology Changsha China Bristol Robotics Laboratory University of the West of England Bristol U.K. Department of Bioengineering Imperial College of Science Technology and Medicine London U.K. Department of Engineering and Design University of Sussex Brighton U.K.

ISBN: (数字)9781728160757

ISBN: (纸本)9781728160764

In human-robot collaborative transportation and sawing tasks, the human operator physically interacts with the robot and directs the robot's movement by applying an interaction force. The robot needs to update its control strategy to adapt to the interaction with the human and to minimize the interaction force. To this end, we propose an integrated algorithm of robot's trajectory adaptation and adaptive impedance control to minimize the interaction force in physical humanrobot interaction (pHRI) and to guarantee the performance of the collaboration tasks. We firstly utilize the information of the interaction force to regulate the robot's reference trajectory. Then, an adaptive impedance controller is developed to ensure automatic adaptation of the robot's impedance parameters. While one can reduce the interaction force by using either trajectory adaptation or adaptive impedance control, we investigate the task performance when combining both. Experimental results on a planar robotic platform verify the effectiveness of the proposed method.

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Robust Localization with Architectural Floor Plans and Depth Camera

Robust Localization with Architectural Floor Plans and Depth...

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IEEE/SICE International Symposium on System Integration

作者： Yoshiaki Watanabe Karinne Ramirez Amaro Bahriye Ilhan Taku Kinoshita Thomas Bock Gordon Cheng Robotics Group Research and Development Institute Takenaka Corporation Japan Department of Electrical Engineering Chalmers University of Technology Sweden Division of Project and Construction Management Faculty of Architecture Istanbul Technical University Turkey Division of Human Mechanical Systems and Design Graduate School of Engineering Hokkaido University Japan Chair of Building Realization and Robotics Technical University of Munich Germany Institute for Cognitive Systems Technical University of Munich Germany

ISBN: (数字)9781728166674

ISBN: (纸本)9781728166681

Autonomous navigation is of great importance for service robots. Such robots need various technologies, especially localization, and mapping. In this paper, we focus on the localization problem. Commonly, to solve the localization problem, the creation of a map is needed. However, creating the map takes considerable time and costs. Therefore, one solution for indoor environment is to use architectural floor plans since buildings have own floor plans. If a robot can use them for localization, it enables users to cut the time and costs for creating the map from scratch. However, the floor plans sometimes do not match with a real building. Besides, sensor measurement sometimes contains objects such as a pedestrian, which are not contained in the floor plans. In this paper, we propose a localization algorithm with architectural floor plans that is robust to such inconsistencies. The algorithm estimates a robot coordinate by matching the floor plan with the point clouds obtained from depth images. Outliers derived from the inconsistencies in the point clouds are filtered with plane information from the depth images with the Generalized ICP framework. We tested our algorithm with floor plans in a real building and in a simulator as a case study. The results show that our algorithm can localize a robot with average more than twice accuracy compared to AMCL and be used for real-time applications.

关键词： Robot kinematics Three-dimensional displays Robot sensing systems Buildings Two dimensional displays Cloud computing

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design of A Multi-Functional Soft Ankle Exoskeleton for Foot-Drop Prevention, Propulsion Assistance, and Inversion/Eversion Stabilization

Design of A Multi-Functional Soft Ankle Exoskeleton for Foot...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Haisheng Xia Junghan Kwon Prabhat Pathak Jooeun Ahn Peter B. Shull Yong-Lae Park State Key Laboratory of Mechanical Systems and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China Department of Mechanical Engineering Soft Robotics Research Center (SRRC) the Institute of Advanced Machines and Design (IAMD) Seoul National University Seoul South Korea Department of Physical Education Seoul National University Seoul South Korea

ISBN: (数字)9781728159072

ISBN: (纸本)9781728159089

Stroke often results in hemiplegia, which greatly affects the walking ability of the patients. We propose a multi-functional portable ankle exoskeleton for use in preventing foot-drops, assisting propulsion, and stabilizing inversion/eversion during walking to help gait rehabilitation of stroke patients. The portable ankle exoskeleton was fabricated by 3D printing a soft/rigid hybrid structure. The device was able to prevent foot-drop and assist propulsion with a bi-directional cable-driven actuation system. It also showed a capability of stabilizing inversion/eversion motions using a counter-electromotive force of two small, lightweight gear motors. The device was controlled by a microcontroller based on real-time feedback from one inertial measurement unit and a customized force sensitive resistor. The device is fully untethered with all the components integrated on-board, with a total weight of less than 1 kg. Five healthy subjects performed over-ground walking tests with the proposed ankle exoskeleton for three different walking situations (normal walking, walking with simulated foot-drop, and walking on an uneven terrain) and three walking conditions (without the exoskeleton, with the exoskeleton powered off, and with the exoskeleton powered on). From the test results, we confirmed the feasibility of the proposed ankle exoskeleton for foot-drop prevention, propulsion assistance, and inversion/eversion stabilization. The ankle exoskeleton showed a potential for wearable gait rehabilitation for stroke patients with high mobility and portability.

关键词： Legged locomotion Exoskeletons Propulsion Robots DC motors Stroke (medical condition) Connectors

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Author Correction: Aerial additive manufacturing with multiple autonomous robots

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Nature 2024年第7998期626卷 E5页

作者： Ketao Zhang Pisak Chermprayong Feng Xiao Dimos Tzoumanikas Barrie Dams Sebastian Kay Basaran Bahadir Kocer Alec Burns Lachlan Orr Talib Alhinai Christopher Choi Durgesh Dattatray Darekar Wenbin Li Steven Hirschmann Valentina Soana Shamsiah Awang Ngah Clément Grillot Sina Sareh Ashutosh Choubey Laura Margheri Vijay M Pawar Richard J Ball Chris Williams Paul Shepherd Stefan Leutenegger Robert Stuart-Smith Mirko Kovac Department of Aeronautics Imperial College London London UK. School of Engineering and Materials Science Queen Mary University of London London UK. Department of Computing Imperial College London London UK. Department of Architecture and Civil Engineering University of Bath Bath UK. Department of Computer Science University College London London UK. Materials and Technology Centre of Robotics Swiss Federal Laboratories for Materials Science and Technology (Empa) Dübendorf Switzerland. Department of Informatics Technical University of Munich Garching Germany. Stuart Weitzman School of Design University of Pennsylvania Philadelphia PA USA. Department of Aeronautics Imperial College London London UK. m.kovac@imperial.ac.uk. Materials and Technology Centre of Robotics Swiss Federal Laboratories for Materials Science and Technology (Empa) Dübendorf Switzerland. m.kovac@imperial.ac.uk.

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A transient FEA-based methodology for designing soft surgical manipulators 15

A transient FEA-based methodology for designing soft surgica...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Elkeran, Mohamed Fanni, Mohamed Department of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology Egypt Department of Production Engineering and Mechanical Design Faculty of Engineering Mansoura University Egypt

ISBN: (纸本)9781538660720

Traditionally, any new development in soft robotics has to come first through many trial-and-error experiments. Many researchers tried to develop analytical models either to study certain phenomena in an already existed deigns or to use them to enhance soft robots performance. However, there is no general methodology that can be used to design any arbitrary soft robot from scratch. Such methodology should have the ability to test different operation scenarios for checking certain control approaches or certain types of sensors and actuators. This paper introduces a general tool for developing soft surgical manipulators, which is based on transient finite element analysis (FEA). To verify the feasibility of the proposed approach, experiments have been conducted on a fabricated soft manipulator. The test setup incorporates pressure sensors and vision tracking system to record the manipulator trajectory. Air pressure measurements are used as input to FEA for transient simulation. The experimental results demonstrate high level of agreement with FEA results and prove that the suggested approach is promising to be used in designing new soft surgical robots. © 2018 IEEE.

关键词： Finite element method

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design methodology of a spring roll dielectric elastomer-based actuator for a hand rehabilitation system 15

Design methodology of a spring roll dielectric elastomer-bas...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Amin, Heba Assal, Samy F.M. Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University ofScience and Technology Alexandria Egypt Faculty of Engineering Department of Production Engineeringand Mechanical Design Tanta University Tanta Egypt

ISBN: (纸本)9781538660720

Development of hand rehabilitation devices is crucial for recovering hand functions of impaired patients after stroke or injures. The demand for the development of new devices that avoid the defects of stationary systems or avoid the obstacles of other portable devices is increasing. In this paper, a spring roll Dielectric Elastomer (DE)-based actuator for a hand rehabilitation system, that avoid the bulky size, complicated structure and the difficulty in controlling the pneumatic actuation, is developed. A design methodology of pre-specified specifications is established to calculate the design parameters of the actuator;namely, the proper spring stiffness, the number oflayers and the pre-strain for the DE material. Theoretical analysis and ANSYS MULTIPHYSICS simulations are carried out throughout this design methodology to obtain those parameters. The fabrication procedures to obtain a prototype are finally presented. © 2018 IEEE.

关键词： Elastomers

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Comparative Analysis of Hybrid Sliding Mode and Classical Controllers for Ni-Ti SMA Smart Actuator Position Control 6

Comparative Analysis of Hybrid Sliding Mode and Classical Co...

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6th International Conference on Advanced Control Circuits and Systems and 5th International Conference on New Paradigms in Electronics and Information Technology, ACCS/PEIT 2019

作者： Alsayed, Y.M. Salem, Mahmoud M. Abouelsoud, A.A. Fath Elbab, A.M.R. School of Innovative Design Engineering Egypt-Japan University of Science and Technology Mechatronics and Robotics Engineering Department PO Box: 21934 New Borg E1 Arab City Alexandria Egypt Power Electronics and Energy Conversion Dept. Cairo Egypt Cairo University Dept. of Electrical Engineering Cairo Egypt Assiut University Dept. of Mechanical Engineering Assiut Egypt

ISBN: (纸本)9781728163543

In this paper, a comparative analysis of Hybrid Sliding Mode PI and classical PI with intelligent properties controllers for Ni-Ti SMA smart actuator position control is presented. The SMA actuator mechanical dynamics are obtained using one-way actuator model. The actuator returns to its initial position using bias spring force. The SMA material model using the shear-strain driven approach is discussed. Two different controllers are presented and compared as a SMA actuator position controllers. The Hybrid Sliding Mode PI and the classical PI with intelligent properties controllers are compared. The comparison results depict that the controller with intelligent properties advantages surpass the advantages of the Hybrid Sliding Mode PI controller and it improves the rising and settling times of output displacement response. Both controllers provide output displacement without overshoot and zero steady state error which are essential in smart actuators applications. © 2019 IEEE.

关键词： Controllers

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Breaking free from PFAS: biocompatible, durable and high-performance octenyl succinic anhydride (OSA)-modified starch/chitosan coating with ZnO for textile applications

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Carbohydrate polymers 2025年 365卷 123792页

作者： Anja Verbič Blaž Stres Ivan Jerman Barbara Golja Ema Žagar Vuk Martinović Petja Logar Gregor Lavrič Anže Prašnikar Blaž Likozar Uroš Novak Ana Oberlintner Department of Catalysis and Chemical Reaction Engineering National Institute of Chemistry Hajdrihova 19 1000 Ljubljana Slovenia. Department of Catalysis and Chemical Reaction Engineering National Institute of Chemistry Hajdrihova 19 1000 Ljubljana Slovenia Jožef Stefan Institute Department of Automation Biocybernetics and Robotics Jamova cesta 39 Ljubljana Slovenia Faculty of Civil and Geodetic Engineering Institute of Sanitary Engineering Jamova 2 Ljubljana Slovenia University of Ljubljana Biotechnical Faculty Jamnikarjeva 101 Ljubljana Slovenia. Laboratory for Coating Development Department of Materials Chemistry National Institute of Chemistry Hajdrihova 19 1000 Ljubljana Slovenia. Department of Textiles Graphic Arts and Design Faculty of Natural Sciences and Engineering University of Ljubljana Aškerčeva 12 1000 Ljubljana Slovenia. Department of Polymer Chemistry and Technology National Institute of Chemistry Hajdrihova 19 1000 Ljubljana Slovenia. Pulp and Paper Institute Bogišićeva 8 1000 Ljubljana Slovenia. Department of Catalysis and Chemical Reaction Engineering National Institute of Chemistry Hajdrihova 19 1000 Ljubljana Slovenia. Electronic address: ana.oberlintner@ki.si.

The development of textile coatings as alternatives to per- and polyfluoroalkyl substances (PFAS) is a high priority due to global regulatory efforts aiming to phase out PFAS, driven by alarming environmental contamination and significant human health concerns. To address the urgent need for replacements, this research develops a health-friendly hydrophobic coating for two of the most common textile substrates, cotton and polyester. The developed coating, consisting of chitosan matrix and octenyl succinic anhydride-modified starch in synergy with ZnO, achieved water contact angles up to 132°. A successful transition to industrial application provided a translucent and homogeneous hydrophobic protection, without noticeably affecting the material's physical properties. Maintained or improved mechanical properties, supported by FTIR analysis, indicate a benign coating process that provides fiber reinforcement. Durability is demonstrated through multiple washing cycles without decrease in hydrophobicity, and high abrasion resistance (min. 20,000 cycles), winning against its commercial fluorinated counterpart. The water-repellent properties show stability over a longer period of time (min. 230 days). The biodegradability study confirmed the environmental compatibility as the biopolymer coating decomposed in 8 days. Finally, multivariate statistical analysis determined an optimal coating process to ensure effective integration of the newly developed sustainable coating into textile manufacturing processes.

关键词： Biopolymer Chitosan Functional textile Hydrophobic coating Modified starch Octenyl succinic anhydride

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A Reverse CAD Approach for Estimating Geometric and Mechanical Behavior of FDM Printed Parts

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Procedia Manufacturing 2019年 34卷 535-544页

作者： Baltej Singh Rupal Khaled G. Mostafa Yeping Wang Ahmed Jawad Qureshi Additive Design and Manufacturing Systems Laboratory (ADaMS Lab) Department of Mechanical Engineering University of Alberta Edmonton Canada Laboratory for Computational Sensing and Robotics Johns Hopkins University Baltimore USA

Fused Deposition Modeling (FDM) printed parts are widely used in various applications. To avoid material and time wastage, it is necessary to assess the geometric and mechanical behavior of the part beforehand. The geometric and mechanical behavior of FDM printed parts is analyzed by various virtual and experimental approaches. The virtual approaches are based on analytical models, which take solid computer-aided design (CAD) models or STL files as input for the analysis. However, in reality, the input CAD model is converted to a combination of slices (toolpath) before it is sent to print. The difference between the CAD and the toolpath model creates a research gap for estimating the properties accurately. The reason being that the printed part is not the replica of the original CAD model but of the sliced model which is dependent on various slicing parameters. This paper presents a novel algorithm, which is capable of converting the sliced file back to a CAD model (called the Reverse CAD model). The Reverse CAD model is capable of providing an accurate assessment of the geometric and mechanical behavior of the printed part as it also incorporates the effect of slicing parameters. In order to validate the algorithm, primitive geometries are printed, and their geometric deviation and mass properties are compared to the Reverse CAD model. Standardized tensile test specimens are also printed with two different materials to compare the experimental mechanical behavior with the finite element analysis of the Reverse CAD model. Comparative studies validate the Reverse CAD model as a better and more accurate estimator of the FDM printed part properties.

关键词： Additive Manufacturing Fused Deposition Modeling Geometric Quality Mechanical Properties Reverse engineering

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Experimental implementation of a new non-redundant 6-DOF quadrotor manipulation system

arXiv

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arXiv 2019年

作者： Khalifa, Ahmed Fanni, Mohamed Department of Industrial Electronics and Control Engineering Faculty of Electronic Engineering Menofia University Egypt Department of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology Egypt Department of Production Engineering and Mechanical Design Mansoura University Egypt

This paper presents an experimental validation of a new quadrotor-based aerial manipulator. A quadrotor is equipped with a 2-DOF robotic arm that is designed with a new topology to enable the end-effector of the whole system to track a 6-DOF trajectory. An identification experiment is carried out to find out the system parameters. The mathematical model of the whole system is presented. A measurement scheme is proposed to get the accurate pose of the vehicle considering the motion of the manipulator below the quadrotor. The system controller is designed and implemented based on PID with a gravity compensation algorithm. System simulation is implemented in the MATLAB/SIMULINK environment with real system parameters, to better emulate a realistic setup. Real-time Experiments are conducted. Both simulation and experimental results show the feasibility and a satisfactory efficiency of the proposed system in achieving the position holding and transferring an object to a specific target position. Copyright © 2019, The Authors. All rights reserved.

关键词： Manipulators

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