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IEEE International Conference on Systems, Man, and Cybernetics

作者： Omar Mehrez Zakarya Zyada Yoshikazu Hayakawa Ahmed Abo-Ismail Tatsuya Suzuki Shigeyuki Hosoe Mechatronics and Robotics Dept. Egypt-Japan Univ. of Science and Technology (E-JUST) Mechanical Power Engineering Dept. Tanta Univ. Mechanical Science and Engineering Dept. Nagoya Univ. RIKEN-TRI Collaboration Center for Human Interactive Robot Research

ISBN: (纸本)9781479938414

This work presents a study of the frictional effect on the stability of a three-rigid link object manipulated by two cooperative robot arms in a plane. It is supposed that the three-rigid link object interacts with the two robot arms at multi contact points to perform the nonprehensile manipulation of the object. The object is figured out in a way such that one of the arms is in contact with two links of the object, while the other arm is free to slide along the third link. The effect of changing frictional forces at the contact points as well as their directions on the stability of the manipulated object is to be explored by defining the system constraints. A definition of what is called the "Stability Margin" is obtained. For the same orientation of the object links, the Stability Margin is a region of equilibrium contact points between the sliding arm and the corresponding object link where the robot arm could be placed in without dropping the object. Later, an experimental system consisting of a three-rigid link object and a two planar robot arms manipulation system is equipped to verify the concept.

关键词： Frictional contact Nonprehensile manipulation Multi-link object manipulation Cooperative robot arms

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Investigation of selected mechanical systems by recurrence plots method

Investigation of selected mechanical systems by recurrence p...

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作者： Iwaniec, Joanna Department of Robotics and Mechatronics Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology in Krakow Mickiewicz Alley 30 30-059 Krakow Poland

Recurrence of states, in the meaning that states are arbitrary close after some time, is a fundamental property of deterministic dynamical systems and is typical of nonlinear or chaotic systems. The main idea of the recurrence plots (RPs) method consists in revealing all the times when the phase space trajectory of the dynamical system visits roughly the same area in the phase space. Such recurrence of states is marked within a two-dimensional matrix with ones and zeros. Graphical representation of such a matrix is known in the literature as a recurrence plot. The paper concerns results of research into dynamic properties and determinism of selected mechanical systems. In order to analyze measured responses (time histories) of the considered systems with the use of the recurrence plots, the phase space of these systems was reconstructed by delay embedding. The smallest sufficient embedding dimensions were estimated with the use of the false nearest neighbors algorithm. For the purposes of time delay determining the method of mutual information function was used. All the necessary computations were performed with the use of the CRP Toolbox for MATLAB. © 2013 World Scientific Publishing Company.

关键词： Chaotic systems

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Development of CR2-Haptic: A compact and portable rehabilitation robot for wrist and forearm training

Development of CR2-Haptic: A compact and portable rehabilita...

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IEEE EMBS Conference on Biomedical engineering and Sciences (IECBES)

作者： K. X. Khor P. J. H. Chin A. R. Hisyam C.F. Yeong A. L. T. Narayanan E. L. M. Su Universiti Teknologi Malaysia from Malaysia Japan International Institute of Technology Universiti Teknologi Malaysia Skudai Johor MY Department of Control Mechatronics of Faculty of Electrical Engineering Unwersiti Teknologi Malaysia Universiti Teknologi Malaysia Center of Artificial Intelligence and Robotics (CAIRO)

Stroke has now become the leading cause of severe disability. Rehabilitation robots are gradually becoming popular for stroke rehabilitation to improve motor recovery, as robotic technology can assist, enhance, and further quantify rehabilitation training for stroke patients. However, most of the available rehabilitation robots are complex and involve multiple degrees-of-freedom (DOFs) causing it to be very expensive and huge in size. Rehabilitation robots should be useful but also need to be affordable and portable enabling more patients to afford and train independently at home. This paper presents a development of an affordable, portable and compact rehabilitation robot that implements different rehabilitation strategies for stroke patient to train forearm and wrist movement in an enhanced virtual reality environment with haptic feedback.

关键词： Robots Training Torque Wrist Haptic interfaces Games Joints

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Continuous control of the dlr light-weight robot iii by a human with Tetraplegia using the braingate2 neural interface system 12

Continuous control of the dlr light-weight robot iii by a hu...

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12th International Symposium on Experimental robotics, ISER 2010

作者： Vogel, Joern Haddadin, Sami Simeral, John D Stavisky, Sergey D Bacher, Daniel Hochberg, Leigh R Donoghue, John P Van Der Smagt, Patrick Institute of Robotics and Mechatronics German Aerospace Center/DLR Oberpfaffenhofen Germany School of Engineering Brown University ProvidenceRI United States Dept of Neuroscience Brown University ProvidenceRI United States Neurology Massachusetts General Hospital BostonMA United States Rehabilitation R&D Service Dept Veterans Affairs Med. Ctr ProvidenceRI United States Neurology Brigham & Women’s and Spaulding Rehabilitation Hospitals Harvard Medical School MA United States

ISBN: (纸本)9783642285714

We have investigated control of the DLR Light-Weight Robot III with DLR Five-Finger Hand by a person with tetraplegia using the BrainGate2 Neural Interface System. The goal of this research is to develop assistive technologies for people with severe physical disabilities. A BrainGate-enabled DLR LWR III would potentially permit a person with tetraplegia to gain improved control over their environment, e.g. to drink a glass of water. First results of the developed control loop are very encouraging and allow the participant to perform simple interaction tasks with her environment, e.g., pick up a bottle and move it around. To this end, only a few minutes of system training are required, after which the system can be used. © Springer-Verlag Berlin Heidelberg 2014.

关键词： Bottles

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Comparison of eyes characteristics in different color spaces

Comparison of eyes characteristics in different color spaces

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2013 5th International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2013

作者： Cao, Peng Zhao, Qijie Tu, Dawei Shao, Hui School of Mechatronics Engineering and Automation Shanghai University China Shanghai Key Laboratory of Manufacturing Automation and Robotics Shanghai China

ISBN: (纸本)9780769550114

Eye characteristics are significant information in pattern recognition. They are widely applied in many fields, such as human-computer interaction, face recognition and 3D face modeling from 2D images. Generally, the eye information detection is Based on gray images. However, color images provide more information than gray images. According to different applications, choosing a suitable color space is very important. In this paper, several eye features are compared from the view point of different color spaces, such as RGB, HIS, HSV. And some experiments have been done in the three color spaces. The extraordinary bright area of pupil in the H channel of HSV color space is confirmed. Moreover, pupil center is detected and estimated using morphology processing method in H channel. The results show that eyes features are more obvious in the HSV space, and feature extraction is more convenient. Furthermore, the experimental analysis can provide reference for future research on eye characteristic recognition. © 2013 IEEE.

关键词： Face recognition

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A novel approach to estimate gaze direction in eye gaze HCI system

A novel approach to estimate gaze direction in eye gaze HCI ...

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2013 5th International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2013

作者： Yuan, Xinming Zhao, Qijie Tu, Dawei Shao, Hui School of Mechatronics Engineering and Automation Shanghai University China Shanghai Key Laboratory of Manufacturing Automation and Robotics Shanghai China

ISBN: (纸本)9780769550114

In order to realize head-free eye-gaze tracking human-computer interaction(HCI) system, a novel gaze direction estimation method is proposed in this paper. The point of gaze (PoG) is estimated by building up the geometric mapping relationship between the vector from the infrared light to the eye-gaze point and the vector from the purkinje spot to the pupil center in 3D space. To calculate the position of purkinje spot and pupil center in 3D space, user-dependent parameters, such as the radius of the cornea and the inter-pupillary distance, should be calibrated before using the eye-gaze tracking HCI system. Different from most monocular(2D) vision techniques simplifying the 3D eye-gaze tracking issue into 2D issue, the proposed method uses a single camera to estimate PoG on 2D plane by means of 3D spatial geometry mapping. Experiments on PoG estimation have been done and the results suggest the proposed method is feasible. © 2013 IEEE.

关键词： Mapping

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Non-local modeling and simulation of wave propagation and crack growth

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AIP Conference Proceedings 2014年第1期1581卷 513-520页

作者： Adam Martowicz Massimo Ruzzene Wieslaw J. Staszewski Tadeusz Uhl AGH University of Science and Technology Department of Robotics and Mechatronics Al. A. Mickiewicza 30 30-059 Krakow Poland Georgia Institute of Technology D. Guggenheim School of Aerospace Engineering 270 Ferst Drive Atlanta GA 30332-0150 USA and Georgia Institute of Technology GW. Woodruff School of Mechanical Engineering 801 Ferst Drive Atlanta GA 30332-0405 USA

The paper presents the results of numerical analyses carried out for 2D models of aluminum plates undergoing crack propagation. Different types of numerical analyses were performed to show the area of applicability of a non-local discrete formulation of mechanical continua for NDE and QNDE. The authors’ interests dealt with: Lamb wave propagation, higher harmonics generation, the phenomenon of clapping, and wave generation and its propagation for growing crack. In the first case a 2D model allowed to find the displacements for the vertical cross-section along the direction of wave propagation and therefore assess its disturbance when introducing a notch. In-plane components of the displacements were considered for the latter 3 cases, in turn. The above cases and elaborated non-local numerical models were discussed in terms of detection of propagating crack. Apart from theoretical aspects of the presented work, the obtained results seem to be of great importance for improvement of experiments in terms of sensor distribution and required accuracy.

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Virtual stretched string: An optimal path planning technique over polygonal obstacles 13

Virtual stretched string: An optimal path planning technique...

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1st International Conference on Advances in robotics, AIR 2013

作者： Sengupta, Agniva Ray, Ranjit Shome, S.N. School of Mechatronics CSIR-Central Mechanical Engineering Research Institute Durgapur India Robotics and Automation Group CSIR-Central Mechanical Engineering Research Institute Durgapur India

ISBN: (纸本)9781450323475

This paper describes an algorithm for path planning among polygonal obstacles that is safe and optimal in the 2D plane. The algorithm is a computational geometry based path planner but unlike existing path planners, the proposed approach works by simulating the physical property of an inextensible, frictionless string. The string has been modeled with certain constraints which lead to the determination of the shortest safe path between origin and goal points. This paper deals with the details of the proposed mechanism. The proposed technique has been successfully simulated and tested with suitable experiments. © 2013 ACM.

关键词： Graph theory

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Surgical slave with a novel method for force sensing and trocar friction reduction

Surgical slave with a novel method for force sensing and tro...

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2012 3rd International Conference on Manufacturing Science and Technology, ICMST 2012

作者： Schwalb, W. Shirinzadeh, B. Smith, J. Robotics and Mechatronics Research Laboratory Department of Mechanical and Aerospace Engineering Monash University Melbourne Australia School of Surgery Monash University Melbourne Australia

ISBN: (纸本)9783037855638

Minimally invasive surgery (MIS) has had a major impact on modern day surgery, and has become the standard for various procedures. MIS however suffers from various impediments, and as a result, has seen robotic surgery gain rapid popularity. It is yet to be seen whether robotic surgery will cause another major paradigm shift, as these systems still require large costs, take up too much space, have an unclear cost benefit, and provide little or no force feedback. This paper presents a slave design for MIS, and a brief literature review on design requirements is given. A novel tool design for force/torque sensing is discussed, which uses an overcoat method to reduce measurement corruption at the trocar, and uses a single external 6-DOF f/t sensor. © (2013) Trans Tech Publications, Switzerland.

关键词： Robotic surgery

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A carbon nanotube vibration gyroscope based on field emission

A carbon nanotube vibration gyroscope based on field emissio...

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2013 13th IEEE International Conference on Nanotechnology, IEEE-NANO 2013

作者： Yang, Zhan Nakajima, Masahiro Shen, Yajing Yue, Tao Lining, Sun Huang, Qiang Fukuda, Toshio Department of Micro-nano System Engineering Center of Micro-nano Mechatronics Nagoya University Nagoya Japan Robotics and Microsystems Center Soochow University Suzhou China Intelligent Robotics Institute School of Mechatronic Engineering Beijing Institute of Technology Beijing China

ISBN: (纸本)9781479906758

A gyroscope based on Coriolis effect and fabricated by Carbon Nanotube (CNT) was presented. The gyroscope was designed A CNT is vibration at x direction, when there a rotation around z direction, acceleration happens to the y direction. The natural frequency of MWCNT is depending on the inner diameter, outer diameter and length. The CNT was driven by the electrostatic force to its nature frequency. A CNT with a length of 1 μm was used for emitter and an anode with a bias angle is etched by Focused Ion Beam (FIB) which is set to the opposite to the CNT. An electrode is set near the CNT tip, which is employed to pulling the CNT for mechanical resonances by an AC voltage. The CNT with a resonate frequency of 1 MHz and mechanical quality factor Q of ∼400 was tested at rotation speed of 20 rad.s. © 2013 IEEE.

关键词： Carbon nanotubes

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