With the advent of different electronic skins sensitive to touch and robots composed of soft materials, tactile or haptic human-robot interaction is gaining importance. We designed a highly realistic artificial hand a...
ISBN:
(数字)9781728160757
ISBN:
(纸本)9781728160764
With the advent of different electronic skins sensitive to touch and robots composed of soft materials, tactile or haptic human-robot interaction is gaining importance. We designed a highly realistic artificial hand aiming to reproduce human-to-human physical contact through a special morphology imitating flesh and bones and a heating system imitating human body temperature. The mechanical response properties of different finger designs were analyzed and the most mimetic one came very close to a human finger. We designed three experiments with participants using haptic exploration to evaluate the human-likeness of: (1) finger morphologies; (2) complete hands: real human vs. soft and warm artificial hand vs. rubber hand (3) the hand mounted on a manipulator with fixed vs. passive compliant wrist in a handshake scenario. First, participants find the mimetic finger morphology most humanlike. Second, people can reliably distinguish the real human hand, the artificial one, and a rubber hand. In terms of humanlikeness (Anthropomorphism, Animacy, and Likeability), the human hand scores better than the artificial hand which in turn clearly outperforms the rubber hand. The temperature, or "warmth", was rated as the most human-like feature of the artificial hand.
Diesel-powered engines are best suitable for light and heavy-duty vehicles. Because of the high thermal efficiency, it is widely used in the transportation sector. The rapid increase in global fossil fuel demand has r...
Diesel-powered engines are best suitable for light and heavy-duty vehicles. Because of the high thermal efficiency, it is widely used in the transportation sector. The rapid increase in global fossil fuel demand has raised fuel prices and causes a huge demand for petroleum fuels. And the stringent Emission norms increased the need for a highly efficient engine. In this work, a low heat rejection diesel engine coated with thermal barrier coating is used to test the biodiesel obtained from waste cooking oil. The Thermal barrier coating is given for 30pm, 40 pm, and 60 pm with yttrium stabilized zirconia. It is observed that the thermal barrier coating with 30pm shows better results. The brake thermal efficiency of the engine with LHR and biodiesel observed an increase in its efficiency. And emission concentrations were increasing with respect to waste cooking oil biodiesel when compared with diesel. The experiment was performed in the laboratory with a single-cylinder water-cooled diesel engine. The emission concentrations are measured with a portable emission analyzer.
Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-acc...
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We present comprehensive first-principles Density Functional Theory (DFT) analyses of the interfacial strength and bonding mechanisms between crystalline and amorphous selenium (Se) with graphene (Gr), a promising duo...
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As the vehicle system has developed gradually, the steering system of the vehicle has also developed. A steer-by-wire(SBW) system is one of the examples. The SBW is a system that replaces the steering column that conn...
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As the vehicle system has developed gradually, the steering system of the vehicle has also developed. A steer-by-wire(SBW) system is one of the examples. The SBW is a system that replaces the steering column that connects the driver to the wheel with a motor. Since the absence of a mechanical element connecting the steering wheel to the tire, it becomes important to deliver a driver's steering angle to the vehicle and describe the steering feel generated by road condition. In this paper, it is represented that an artificial steering feel is generated through torque-based admittance control, using a series elastic actuator which made for consideration of torque control. The effects of linear and nonlinear parameter including inertia, viscous friction, coulomb friction, and spring in steering model are represented by changing the range.
Oscillators - dynamical systems with stable periodic orbits - arise in many systems of physical, technological, and biological interest. The standard phase reduction, a model reduction technique based on isochrons, ca...
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The wheeled mobile robot has been considered a planner mechanism with linear and angular movement over a horizontal plane. In particular, the wheeled mobile robot's movement is assumed to result from pure rolling ...
The wheeled mobile robot has been considered a planner mechanism with linear and angular movement over a horizontal plane. In particular, the wheeled mobile robot's movement is assumed to result from pure rolling of wheels without slipping. The kinematics model is one of the most fundamental steps in studying any mobile robot. This research presents the kinematic equations of movement of a mobile robot with mecanum wheels. The resulting mathematical model of a wheeled mobile robot was produced using the MATLAB R2014a program. The kinematic modeling technique was investigated by simulating a robot's walk on a square path.
Corona charging a free-standing polymer film can produce a quasi-permanent potential difference across the film thickness, while the absolute amplitude of surface voltage may be highly sensitive to the free charges. T...
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