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IEEE International Conference on Soft robotics (RoboSoft)

作者： Yijia Wu Markus P. Nemitz Department of Robotics Engineering Worcester Polytechnic Institute Worcester MA USA Department of Mechanical and Materials Engineering Worcester Polytechnic Institute Worcester MA USA Department of Electrical and Computer Engineering Worcester Polytechnic Institute Worcester MA USA

Manipulating airflow is important for controlling pneumatically actuated soft robots, however, current switching techniques suffer from leakage under high pressure ( $> 200$ kPa) or require a complex fabrication process. We propose a new method for reliably and repeatably cutting off airflow by harnessing pre-loaded torsional forces applied to our tubing. The switching distance and hysteresis of our pre-twisted tubing are programmable by varying the tube length and the twisting angle. Our experiments demonstrate the use of pre-twisted tubing to implement CMOS equivalent fluidic switches configured as NOT-, AND-, and OR-gates, and a distance sensor for feedback control for the oscillation of a PneuNet. Our approach of pre-loading tubes with a torsional force allows for simplicity, integrated functionality, and the capability of manipulating high-pressure, fluidic signals mainly at the cost of tubing.

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Parameter Design of Digital P-PI Controller for Motor Positioning Systems Using Limited Pole Placement Method

Parameter Design of Digital P-PI Controller for Motor Positi...

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Annual Conference of Industrial Electronics Society

作者： Yoshiyuki Urakawa Ngamlamai Sirichai Robotics Department Advanced Engineering Faculty Nippon Institute of Technology Saitama Japan Mechanical System Engineering Major Graduated School Nippon Institute of Technology Saitama Japan

ISBN: (数字)9781665464543

ISBN: (纸本)9781665464550

Positioning systems with motors are widely used in industrial use. Many production systems, mechatronics systems or industrial robots use high speed and high precision positioning systems with motors. Generally, the controllers of the positioning systems are proportional-to-proportional-integral (P-PI) controllers. They are often used because they have small overshoots and easy to tune. However, it needs fine-tunings to make settling motions smooth. There may be two reasons why the fine-tunings are needed for P-PI controllers. One is the pole assignment constraint of P-PI controller. Three poles of the P-PI control systems for motor positioning cannot be assigned freely. One of the three poles always stay at a slow position. Another reason is the digital delay when the P-PI controllers are applied to the practical systems. The digital system with the delay becomes vibrational because of the phase delay of the calculation time. It makes the overshoot of the trajectory. In this paper, the influences and solutions of the pole assignment constraint and the digital delay are shown. The pole assignment constraint limits the performance of the closed loop. The feedforward controller is shown to be the solution of this constraint. The digital delay makes the overshoot, but it can be corrected by the limited pole placement (LPP) method proposed by the author. It enables accurate pole-zero assignment without overshoots under the conditions of the digital delay.

关键词： Industrial electronics Production systems Accuracy Mechatronics Motors Industrial robots Delays Trajectory Feedforward systems Oscillators

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ARIS 1.0: An Autonomous Multitasking Medical Service Robot for Hospital Environments

ARIS 1.0: An Autonomous Multitasking Medical Service Robot f...

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IEEE International Conference on robotics and Automation (ICRA)

作者： D. M. A. P. Dunuwila W. M. L. N. Gunawardhana M. D. W. H. Basnayake Y. W. R. Amarasinghe A. G. B. P. Jayasekara H. A. G. C. Premachandra H. Tamura U-Xuan Tan Department of Mechanical Engineering University of Moratuwa Sri Lanka Department of Electrical Engineering University of Moratuwa Sri Lanka Engineering Product Development Pillar Singapore University of Technology and Design Singapore Department of Environmental Robotics University of Miyazaki Japan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Introducing robotics in the healthcare sector revolutionizes medical services by providing advanced treatments, medication management, and robotic assistance while overcoming resource limitations. In the current healthcare domain, an intermediate robotic communication platform is essential for distributing equal medical services, facilitating remote consultations, and maintaining the integrity of medical education, especially in rural areas and during pandemics. This work introduces ARIS, a multitasking medical service robot designed for telemedicine aspects and to facilitate remote medical education activities such as ward rounds. The prototype called ARIS 1.0 was developed, including a three-wheeled omnidirectional mobile platform, a torso and a novel movable neck mechanism with a face. The prototype robot can generate an online summarized report using its integrated language interaction and IoT-based vital sign extraction modules. The ROS-based semi-autonomous navigation facilitates the robot to be an assistive agent, allowing it to either accompany doctors or visit patients individually. Ultimately, ARIS 1.0 serves telepresence and novel regional language capabilities, specifically Sinhala-based self-communication features. This enables inter-party communication among doctors, medical students, and patients. The functionalities of ARIS 1.0 were validated in an emulated indoor environment to evaluate their feasibility. The results indicate that ARIS 1.0 is feasible for providing remote medical services. Furthermore, the paper discusses several promising research directions related to the proposed concept.

关键词： Torso Hospitals Telemedicine Education Prototypes Feature extraction Multitasking

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Miniaturized and Motorized: Fast, Architected Soft Robotic Actuators via Molded Thermoplastic Elastomers

Miniaturized and Motorized: Fast, Architected Soft Robotic A...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Pranav Kaarthik Michael E. Bayer Taekyoung Kim Ryan L. Truby Department of Mechanical Engineering Northwestern University Evanston IL USA Center for Robotics and Biosystems Northwestern University Evanston IL USA Department of Materials Science and Engineering Northwestern University Evanston IL USA

ISBN: (数字)9798331520205

ISBN: (纸本)9798331520212

Handed shearing auxetics, or HSAs, are a class of architected materials increasingly used as electrically-driven soft actuators. HSAs are directly driven by servo motors, resulting in architected soft robotic actuators that enable capabilities spanning manipulation and locomotion. However, the material properties and form factors available to HSAs are limited. Thus, fabricating miniaturized HSAs from robust, durable materials is difficult. Moreover, scaling HSAs to smaller form factors is also complicated by the need to miniaturize the motors driving them. Here, we present a method for fabricating miniaturized, robust HSA actuators via molding from thermoplastic polyurethane (TPU) powders. Our method produces soft HSA actuators with low torque requirements that can be actuated with DC micromotors. We describe the overall fabrication process for our actuators, characterize the free displacement and blocked force generated by single HSAs, and demonstrate the performance of a multi-DoF platform comprising a 2x2 assembly of HSAs. We find that our new HSAs produce actuation strains and forces of 40% and 1.2N, respectively, with servo motors; with DC micromotors, they can actuate to at least 20Hz. Altogether, the use of micromotors and thermoplastic elastomers enables us to achieve extremely robust and fast actuation with HSAs. We expect our new approach to HSA design, fabrication, and actuation will open up new opportunities in the use of architected soft robotic actuators that operate with the actuation bandwidths found in both rigid robots and living organisms.

关键词： Fabrication Actuators Torque Powders Elastomers Soft robotics Servomotors Micromotors Shearing Strain

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The Surface Accelerations Reference — A Large-scale, Interactive Catalog of Passenger Vehicle Accelerations

The Surface Accelerations Reference — A Large-scale, Intera...

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IEEE Symposium on Intelligent Vehicle

作者： Gibran Ali Shane McLaughlin Mehdi Ahmadian Division of Data and Analytics Virginia Tech Transportation Institute TORC Robotics Inc. Department of Mechanical Engineering Virginia Tech

ISBN: (数字)9798350348811

ISBN: (纸本)9798350348828

Reducing the number of motor vehicle crashes is one of the major challenges of our times. Current strategies to lower crash rates fall into two categories: preemptively identifying dangerous driving behaviors to mitigate risks and employing intelligent vehicle technologies like Advanced Driver Assistance Systems (ADAS) and Automated Driving Systems (ADS) to automate driving tasks. For successful implementation of either strategy, a deeper understanding of human driving behavior is essential. Two important aspects of understanding driving behavior are longitudinal acceleration, which indicates how people speed up or slow down, and lateral acceleration, which shows how people take turns. Therefore, there is a need for a large-scale, real world, diverse, and context rich vehicle acceleration catalog that can be used to design, analyze, and compare various intelligent transportation systems.

关键词： Intelligent vehicles Vehicle driving Behavioral sciences Automobiles Task analysis Advanced driver assistance systems Accidents

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Robots that Suggest Safe Alternatives

arXiv

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arXiv 2024年

作者： Jeong, Hyun Joe Bajcsy, Andrea Department of Mechanical and Aerospace Engineering UC San Diego United States Robotics Institute Carnegie Mellon University United States

Goal-conditioned policies, such as those learned via imitation learning, provide an easy way for humans to influence what tasks robots accomplish. However, these robot policies are not guaranteed to execute safely or to succeed when faced with out-of-distribution goal requests. In this work, we enable robots to know when they can confidently execute a user's desired goal, and automatically suggest safe alternatives when they cannot. Our approach is inspired by control-theoretic safety filtering, wherein a safety filter minimally adjusts a robot's candidate action to be safe. Our key idea is to pose alternative suggestion as a safe control problem in goal space, rather than in action space. Offline, we use reachability analysis to compute a goal-parameterized reach-avoid value network which quantifies the safety and liveness of the robot's pre-trained policy. Online, our robot uses the reach-avoid value network as a safety filter, monitoring the human's given goal and actively suggesting alternatives that are similar but meet the safety specification. We demonstrate our Safe ALTernatives (SALT) framework in simulation experiments with indoor navigation and Franka Panda tabletop manipulation, and with both discrete and continuous goal representations. We find that SALT is able to learn to predict successful and failed closed-loop executions, is a less pessimistic monitor than open-loop uncertainty quantification, and proposes alternatives that consistently align with those that people find acceptable. Copyright © 2024, The Authors. All rights reserved.

关键词： Robots

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A Unified Controller for Natural Ambulation on Stairs and Level Ground with a Powered Robotic Knee Prosthesis

A Unified Controller for Natural Ambulation on Stairs and Le...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Marissa Cowan Suzi Creveling Liam M. Sullivan Lukas Gabert Tommaso Lenzi Department of Mechanical Engineering and the Robotics Center at the University of Utah Rocky Mountain Center for Occupational and Environmental Health Department of Biomedical Engineering at the University of Utah

Powered lower-limb prostheses have the potential to improve amputee mobility by closely imitating the biomechanical function of the missing biological leg. To accomplish this goal, powered prostheses need controllers that can seamlessly adapt to the ambulation activity intended by the user. Most powered prosthesis control architectures address this issue by switching between specific controllers for each activity. This approach requires online classification of the intended ambulation activity. Unfortunately, any misclassification can cause the prosthesis to perform a different movement than the user expects, increasing the likelihood of falls and injuries. Therefore, classification approaches require near-perfect accuracy to be used safely in real life. In this paper, we propose a unified controller for powered knee prostheses which allows for walking, stair ascent, and stair descent without the need for explicit activity classification. Experiments with one individual with an above-knee amputation show that the proposed controller enables seamless transitions between activities. Moreover, transition between activities is possible while leading with either the sound-side or the prosthesis. A controller with these characteristics has the potential to improve amputee mobility.

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mechanically-Inflatable Bio-Inspired Locomotion for Robotic Pipeline Inspection

arXiv

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arXiv 2023年

作者： Atalla, Mostafa A. Trauzettel, Fabian van Gelder, Sebastiaan P. Breedveld, Paul Wiertlewski, Michaël Sakes, Aimée Department of BioMechanical Engineering Faculty of Mechanical Engineering Delft University of Technology Delft2628 CD Netherlands Department of Cognitive Robotics Faculty of Mechanical Engineering Delft University of Technology Delft2628 CD Netherlands

Pipelines, vital for fluid transport, pose an important yet challenging inspection task, particularly in small, flexible biological systems, that robots have yet to master. In this study, we explored the development of an innovative robot inspired by the ovipositor of parasitic wasps to navigate and inspect pipelines. The robot features a flexible locomotion system that adapts to different tube sizes and shapes through a mechanical inflation technique. The flexible locomotion system employs a reciprocating motion, in which groups of three sliders extend and retract in a cyclic fashion. In a proof-of-principle experiment, the robot locomotion efficiency demonstrated positive linear correlation (r = 0.6434) with the diameter ratio (ratio of robot diameter to tube diameter). The robot showcased a remarkable ability to traverse tubes of different sizes, shapes and payloads with an average of (70%) locomotion efficiency across all testing conditions, at varying diameter ratios (0.7 ∼ 1.5). Furthermore, the mechanical inflation mechanism displayed substantial load-carrying capacity, producing considerable holding force of (13 N), equivalent to carrying a payload of (≈ 5.8 Kg) inclusive the robot weight. This soft robotic system shows promise for inspection and navigation within tubular confined spaces, particularly in scenarios requiring adaptability to different tube shapes, sizes, and load-carrying capacities. The design of this system serves as a foundation for a new class of pipeline inspection robots that exhibit versatility across various pipeline environments, potentially including biological systems. © 2023, CC BY.

关键词： Efficiency

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Feasibility Study of Finger Interface for Miniature Surgical Instruments

Feasibility Study of Finger Interface for Miniature Surgical...

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Telepresence, IEEE Conference on

作者： Serin Cha Sebin Kim Seok Chang Ryu BioRobotics Laboratory Department of Mechanical and Biomedical Engineering Graduate Program in Smart Factory Ewha Womans University Seoul South Korea BioRobotics Laboratory Department of Mechanical and Biomedical Engineering Ewha Womans University Department of Mechanical and Biomedical Engineering BioRobotics Laboratory Ewha Womans University

ISBN: (数字)9798331528249

ISBN: (纸本)9798331528256

This paper presents a study on the design of a finger interface to improve the teleoperation of a miniaturized surgical instrument with a bendable distal section. A unique design principle employing the kinematic similarity between the human motion and the follower robot has been proposed for such instruments, which may result in embodied teleoperation, enhancing the overall telepresence experience. According to the principle, a design for an index finger interface was proposed, consisting of a sub-unit measuring finger motion and a handle. When the interface is connected to a robotic platform, it can control the entire tool motion in two separate ways: distal bending by the sub-unit and overall tool motion by the handle. A human subject test was conducted for trajectory-following tasks in a virtual environment, and their performance score was quantified for analysis of the learning curve. Based on the satisfactory learning rate of 75.78% for all nine subjects, the proposed finger interface could be a promising interface for a miniature surgical instrument with a long bendable section at the distal end.

关键词： Telepresence Instruments Fingers Virtual environments Kinematics Bending Motion measurement Robots

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Mathematical model and motion analysis of a wheeled vibro-impact locomotion system 55

Mathematical model and motion analysis of a wheeled vibro-im...

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55th International Conference on Vibroengineering

作者： Korendiy, Vitaliy Gursky, Volodymyr Kachur, Oleksandr Dmyterko, Petro Kotsiumbas, Oleh Havrylchenko, Oleksandr Department of Robotics and Integrated Mechanical Engineering Technologies Lviv Polytechnic National University Lviv Ukraine Department of Motor Vehicle Transport Lviv Polytechnic National University Lviv Ukraine

The paper is aimed at investigating the motion conditions of the wheeled vibro-impact locomotion system equipped with the twin crank-slider excitation mechanism and the additional braking mechanisms allowing only one-way rotation of the wheels. The novelty of the present research consists in the improved mathematical model describing the motion conditions of the vibro-impact system and the proposed parameters optimization technique that allows for maximizing the average translational velocity of the wheeled platform. The main idea of this technique is to provide the maximal velocities of internal bodies when they get in contact with the corresponding impact plates. The numerical modeling results describing the dynamic behavior of the vibro-impact system are obtained in Mathematica software and substantiate the correctness of the developed mathematical model and of the proposed parameters optimization technique. The paper can be of significant practical and scientific interest for researchers and engineers studying and improving the vibratory locomotion systems, e.g., for inspecting and cleaning the pipelines. © 2022 JVE International. All rights reserved.

关键词： Motion analysis

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