Cloth manipulation is common in domestic and service tasks, and most studies use fixed-base manipulators to manipulate objects whose sizes are relatively small with respect to the manipulators' workspace, such as ...
详细信息
Industrial manipulators are deployed for a range of repetitive tasks in cluttered environments in which the robot must rapidly execute safe trajectories. While nominal robot models exist, true dynamic models of deploy...
详细信息
The increasing amount of waste in a limited space creates a problematic scenario, particularly in urban areas. Thus, methods of diverting waste wherever possible have become a trend, such as the utilization of refuse-...
详细信息
Embodied intelligence refers to the aspects of sensory-motor behavior that reside in the body, relying on its mechanical properties and physical interactions with the environment (1). Here, motor control is not entire...
Embodied intelligence refers to the aspects of sensory-motor behavior that reside in the body, relying on its mechanical properties and physical interactions with the environment (1). Here, motor control is not entirely managed by the computing system—whether it is the nervous system of an animal or the controller of a robot. Instead, motor behavior is partially shaped mechanically by external forces acting on the body. Nature offers numerous examples of embodied intelligence that have been inspiring robotics for years. When we walk, our compliant knees can compensate for small changes in terrain mechanically, with no involvement of the central nervous system. When we grasp an object, our fingers adapt to its shape mechanically, without controlling the movement of each phalanx.
Series elastic actuators are increasingly adopted in wearable robots, due to superior sensing and actuating capabilities provided by the added internal compliance. However, when evaluating their performance in benchto...
详细信息
Series elastic actuators are increasingly adopted in wearable robots, due to superior sensing and actuating capabilities provided by the added internal compliance. However, when evaluating their performance in benchtop setups, the dynamics of the physical human–robot interface (i.e., external compliance) are usually overlooked despite it causing energy dissipation and delays in power transmission. This work closes the gap by emulating in a test bench the physical human–robot interaction dynamics and validating actuator performance against commonly used performance indices, including torque bandwidth, torque tracking, and transparency. The results show a significant impact of the interaction dynamics on the actuator performance. When interface dynamics is present, decreasing the actuator (internal) compliance has little to no effect on its bandwidth. When delivering a walking torque, decreasing internal (actuator) and external (interface) compliance has the same decreasing effect on the motor’s peak electrical power in the hip joint. Conversely, the motor peak electrical power decreases with an increase in internal (actuator) compliance but increases with an increase in external (interface) compliance in the knee joint. As such, this work demonstrates the importance of including interaction dynamics as a norm in designing and evaluating actuation units in wearable robots.
This paper reports on the development of a novel soft robotic system for remote ultrasound applications. Direct contact of the ultrasound probe with the patient’s body represents a safety risk and therefore control o...
详细信息
Liquid marbles have found extensive applications in digital microfluidics, particularly in fields such as chemistry, diagnostics, and biotechnology. In this study, we present the first investigation into the reciproca...
详细信息
Amid the growing interest in triboelectric nanogenerators(TENGs)as novel energy-harvesting devices,several studies have focused on direct current(DC)TENGs to generate a stable DC output for operating electronic ***,ow...
详细信息
Amid the growing interest in triboelectric nanogenerators(TENGs)as novel energy-harvesting devices,several studies have focused on direct current(DC)TENGs to generate a stable DC output for operating electronic ***,owing to the working mechanisms of conventional DC TENGs,generating a stable DC output from reciprocating motion remains a ***,we propose a bidirectional rotating DC TENG(BiR-TENG),which can generate DC outputs,regardless of the direction of rotation,from reciprocating *** distinct design of the BiR-TENG enables the mechanical rectification of the alternating current output into a rotational-direction-dependent DC ***,it allows the conversion of the rotational-direction-dependent DC output into a unidirectional DC output by adapting the configurations depending on the rotational *** to these tailored design strategies and subsequent optimizations,the BiR-TENG could generate an effective unidirectional DC *** of the BiR-TENG for the reciprocating motions of swinging doors and waves were demonstrated by harnessing this *** study demonstrates the potential of the BiR-TENG design strategy as an effective and versatile solution for energy harvesting from reciprocating motions,highlighting the suitability of DC outputs as an energy source for electronic devices.
To eliminate unnecessary background information,such as soft tissues in original CT images and the adverse impact of the similarity of adjacent spines on lumbar image segmentation and surgical path planning,a two‐sta...
详细信息
To eliminate unnecessary background information,such as soft tissues in original CT images and the adverse impact of the similarity of adjacent spines on lumbar image segmentation and surgical path planning,a two‐stage approach for localising lumbar segments is ***,based on the multi‐scale feature fusion technology,a non‐linear regression method is used to achieve accurate localisation of the overall spatial region of the lumbar spine,effectively eliminating useless background information,such as soft *** the second stage,we directly realised the precise positioning of each segment in the lumbar spine space region based on the non‐linear regression method,thus effectively eliminating the interference caused by the adjacent *** 3D Intersection over Union(3D_IOU)is used as the main evaluation indicator for the positioning *** an open dataset,3D_IOU values of 0.8339�0.0990 and 0.8559�0.0332 in the first and second stages,respectively is *** addition,the average time required for the proposed method in the two stages is 0.3274 and 0.2105 s ***,the proposed method performs very well in terms of both pre-cision and speed and can effectively improve the accuracy of lumbar image segmentation and the effect of surgical path planning.
The accelerated adoption of photovoltaic (PV) systems for renewable power generation in the Philippines will yield a tremendous amount of PV waste. However, the country lacks a comprehensive framework for understandin...
详细信息
暂无评论