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检索条件"机构=Mechatronics and Robotics Engineering"

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Toward Gesture Controlled Wheelchair: A Proof of Concept Study

Toward Gesture Controlled Wheelchair: A Proof of Concept Stu...

引用

IEEE International Conference on Rehabilitation robotics

作者： Noriyuki Kawarazaki Dimitar Stefanov Alejandro Israel Barragan Diaz Dept. of Robotics and Mechatronics Kanagawa Institute of Technology Kanagawa Japan Faculty of Engineering Coventry University Coventry U.K

ISBN: (纸本)9781467360210

This study focuses on the early stages of developing and testing an interactive approach for gesture-based wheelchair control that could facilitate the user in various tasks such as cooking and food serving. The proposed method allows a user to hold an object (tray, saucepan, etc) with both hands and to control at the same time the wheelchair direction via changing the position of his/her arms. The wheelchair control system contains an image sensor directed to the user's arms. Sensor signals are processed via an image-recognition algorithm and the calculations for the arm positions are used for the computation of the wheelchair steering signals. Thus, the wheelchair direction depends on the arm positions and the user can control the wheelchair by moving his/her arms. An initial wheelchair prototype, operated by the intentional motions of one hand, was built and was tested by several initial experiments.

关键词： Wheelchair interface Gesture recognition Depth image sensor Natural interaction library

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Fabrication of 3D porous micro-channel for artificial capillary blood vessel model

Fabrication of 3D porous micro-channel for artificial capill...

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2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013

作者： Bakar, Azrena Abu Nakajima, Masahiro Yue, Tao Hu, Chengzhi Takeuchi, Masaru Maruyama, Shoichi Fukuda, Toshio Department of Micro-Nano Systems Engineering Nagoya University Nagoya Japan Center for Micro-nano Mechatronics Nagoya University Nagoya Japan Department of Nephrology Nagoya University Nagoya Japan Faculty of Science and Engineering Meijo University Nagoya Aichi Japan Institute for Advanced Research Nagoya University Nagoya Aichi Japan Intelligent Robotics Institute School of Mechatronical Engineering Beijing China

We present the fabrication of 3D porous micro-channel for artificial capillary blood vessel model to study the pressure of glomerulus in vitro. The 3D porous micro-channel was fabricated by direct laser writing to mimic the complex structure of capillary blood vessel. It was designed to connect with micro-channels which were fabricated by UV lithography process. The 3D porous micro-channel was made of IP-L to represent the glomerulus structures via direct laser writing. The fabricated structure was observed by optical and electron microscope to reveal the fabrication errors due to shrinkage. Optimization of the direct laser writing method shows that IP-L is a better photoresist compare to Ormocomp for 3D porous micro-channel by solid model fabrication. The PDMS micro-channel has also been fabricated and assembled on the glass with the IP-L porous micro-channel. There was no leakage when fluid flow experiment was performed due to surface tension.

关键词： Fabrication

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Design, analysis, and experimental investigations of a 2-DOF monolithic parallel mechanism

Design, analysis, and experimental investigations of a 2-DOF...

引用

IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： Yanding Qin Bijan Shirinzadeh Yanling Tian Dawei Zhang Umesh Bhagat Institute of Robotics and Automatic Information System Nankai University Tianjin China Robotics and Mechatronics Research Laboratory Department of Mechanical and Aerospace Engineering Monash University Clayton VIC Australia School of Mechanical Engineering Tianjin University Tianjin China

ISBN: (纸本)9781467353199

This paper presents the design and analysis of a 2-DOF monolithic parallel mechanism for micro- and nano-manipulations. Two sets of statically indeterminate leaf parallelograms are employed to provide the decoupling effect, and the displacement of the piezoelectric actuator (PEA) is amplified with a statically indeterminate lever mechanism. Due to the static indeterminacy, the load-deflection relationship of the mechanism is nonlinear. Computational analysis is utilized to investigate the nonlinearity. Computational results reveal that the structural nonlinearities of the mechanism is negligible within the maximum driving force of the PEA. The influence of the contact interface and the load mass is also investigated through computational analyses. Ultimately, a prototype is fabricated and a laser interferometer measurement system is established to obtain the position and velocity of the prototype. A number of experiments are performed to investigate the performance of the prototype. Experimental results show that the developed prototype has achieved a workspace of 82×82 μm 2 , a first natural frequency of 423 Hz (with a 53.4 g load mass), and a cross-axis coupling ratio below 1%.

关键词： Prototypes Frequency measurement Force Couplings Measurement by laser beam Stress Hysteresis

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Reconfiguring a Modular Robot into a Humanoid Formation: A Multi-Body Dynamic Perspective on Motion Scheduling for Modules and their Assemblies

Reconfiguring a Modular Robot into a Humanoid Formation: A M...

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IEEE International Conference on Automation Science and engineering

作者： Paul M. Moubarak Eric J. Alvarez Pinhas Ben-Tzvi Department of Mechanical and Aerospace Engineering at the George Washington University Washington DC Assistant Professor of Engineering and the Director of the Robotics and Mechatronics Lab at the George Washington University Washington DC

ISBN: (纸本)9781479915132

In this paper, we study the scheduling architecture that enables an assembly of mobile modules to reconfigure into a humanoid formation with a manipulator arm. The investigated problem arises from the articulated nature of the formation which involves multiple degrees of freedom, thus requiring a control approach that synchronizes the actuators' motion during shape metamorphosis. Using the principles of motion kinematics and caterpillar tracks modeling, we present a coherent solution which we further validate on a sample three-module formation of STORM (Self-configurable and Transformable Omni-directional Robotic Modules). Simulation results on MSC ADAMS CAR validate the feasibility of the synchronization architecture, and offer further insight into the dynamic dependencies of coupled motions.

关键词： MSC ADAMS CAR

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Design and impedance estimation of a biologically inspired flexible mechanical transmission with exponential elastic characteristic

Design and impedance estimation of a biologically inspired f...

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2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Soumen Sen Sananda Chatterjee Chandan Har Robotics & Automation Div. CSIR-CMERI: Central Mechanical Engineering Research Institute Durgapur INDIA Bengal Engineering and Science University & CSIR-CMERI Mechatronics Programme INDIA

ISBN: (纸本)9781467363563

Nonlinear elasticity of transmission is indispensable in any passively variable stiffness mechanism. However, it remains obscure how to decide a desired nonlinear force-displacement function. On the other hand biological muscular actions are associated with stiffness/impedance variation in a wide range as demanded by everyday tasks. This paper addresses the issue of designing a nonlinear elastic transmission, where the elastic behaviour is obtained from the passive properties of biological muscle, which happens to be an exponential one, leading to existence of linearity between stiffness and force. In general, with passive damping, the transmission behaves as a mechanical impedance element, to be used in variable impedance actuation. Knowledge of the varying impedance is required to operate the transmission reliably. An off-line calibrated model can only be approximate and erroneous with noisy sensors and changing characteristics of the passive elements with time and environmental condition. This article implements an Extended Kalman Filter algorithm for on-line estimation of stiffness and impedance of such a damped series-elastic transmission. The underlined principle in stiffness-force affine relation is exploited favourably in stiffness estimation with reduced complexity. The effectiveness of the proposed estimator is examined through experiments on the mechanical transmission designed using the biological principle.

关键词： Force Impedance Springs Damping Estimation Muscles

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Development of parallel manipulator sit to stand assistive device for elderly people

Development of parallel manipulator sit to stand assistive d...

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2013 IEEE Workshop on Advanced robotics and Its Social Impacts, ARSO 2013

作者： Salah, Omar Asker, Ahmed Fath El-Bab, Ahmed M. R. Assal, Samy M. F. Ramadan, Ahmed A. Sessa, Salvatore Abo-Ismail, Ahmed Egypt-Japan University of Science and Technology New Borg-El-Arab city Alexandria Egypt Mechanical Engineering Department Faculty of Engineering Assiut University Egypt Department of Production Engineering and Mechanical Design Faculty of Engineering Tanta University Alexandria Egypt Computer and Automatic Control Dept. Faculty of Engineering Tanta University Tanta Egypt Mechatronics and Robotics Dept. Egypt-Japan University of Science and Technology Egypt School of Creative Science and Engineering Waseda University Tokyo 168-8480 Japan

ISBN: (纸本)9781479923694

This paper describes a novel mobility assistive device under development in the Egypt-Japan University of Science and Technology (E-JUST). The proposed system can help patients who do not have enough physical strength on the lower limbs during sit to stand due to aging, diseases such as polymyositis and myopathy, and joint replacement surgery complications. It can follow the natural pattern of human motion during sit to stand providing assistance force under the shoulder. The overall device is compact and employees a parallel mechanism which provide more stiffness. Several experiments were carried out in a VICON room to calculate the human motion posture while sit to stand motion in addition estimate the trajectory of the end effector during assisting. Computer simulation was built to verify the performance of the proposed system with the reference trajectory. © 2013 IEEE.

关键词： Mechanisms

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Delta robot design

Delta robot design

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作者： Brezina, Lukas Holub, Michal Cintula, Ladislav Kovar, Jiri Institute of Solid Mechanics Mechatronics and Biomechanics Mechanical Engineering Brno University of Technology Technicka 2 616 69 Brno Czech Republic Institute of Production Machines Systems and Robotics Mechanical Engineering Brno University of Technology Technicka 2 616 69 Brno Czech Republic Institute of Automation and Computer Science Mechanical Engineering Brno University of Technology Technicka 2 616 69 Brno Czech Republic

ISBN: (纸本)9783037856376

The article proposes an approach to the development of a Delta robot which is the most frequently used robot with a parallel kinematic structure for industrial fast pick and place applications. The approach is model based and it summarizes important steps for the successful design of a Delta robot for the given application including description of the kinematics, multi-body dynamics modelling and flexible bodies notes. This is demonstrated on the particular Delta robot developed at Brno University of Technology (BUT). © (2013) Trans Tech Publications, Switzerland.

关键词： Kinematics

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Micro-sorting device by a micro-channel with multiple-size pores

Micro-sorting device by a micro-channel with multiple-size p...

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2013 International Symposium on Micro-Nanomechatronics and Human Science, MHS 2013

ISBN: (纸本)9781479915293

We present the fabrication of micro-sorting device with multiple-size pores micro-channel. The porous micro-channel has 1, 3, and 5 μm diameter. It was fabricated by direct laser writing. It was designed to connect with micro-channels which were fabricated by UV lithography process. The multiple-size pores micro-channel was made of IP-L as photoresist. The PDMS micro-channel has also been fabricated and assembled on the glass with the IP-L porous micro-channel. A fluid flow test was conducted to the multiple-size pores micro-channel to test the leakage of fluid through the pores on the IP-L material. A micro bead was observed to trap inside the pore. It can be concluded that the pore has less than 100nm diameter. The micro bead is captured due to the pressure gradient between the inside and outside of the multiple-size pores micro-channel. This device has the potential to be used as cell sorter in DNA purification and bacteria filtering. © 2013 IEEE.

关键词： Photoresists

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Micro-CT imaging of Caenorhabditis elegans under environmental-SEM

Micro-CT imaging of Caenorhabditis elegans under environment...

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International Symposium on Micromechatronics and Human Science (MHS)

作者： Masahiro Nakajima Masaru Takeuchi Qiang Huang Toshio Fukuda Center For Micro-nano Mechatronics Nagoya University Nagoya Japan Department of Micro-Nano Systems Engineering Nagoya University Nagoya Japan Intelligent Robotics Institute Beijing Institute of Technology Beijing China Department of Mechatronics Engineering Meijo University Nagoya Japan

High resolution imaging is an important technique for micro-nano scale objects to obtain the structural information. Micro computed tomography (micro-CT) is one of the techniques to obtain internal information without physical damage for sample. We investigate the micro-CT imaging for the Caenorhabditis elegans (C. elegans) in this paper. This is the one of the smallest animal used as a model organism, which is a biological model in the biology and medical research fields for investigating the biological system, evaluating the drugs affectivities, and so on. We used a micro-CT instrument inside an environmental scanning electron microscope (E-SEM) for obtaining small samples with water-containing condition. This set-up will be effective as a novel nanomanipulation platform to investigate three-dimensional manipulation of small biological samples, including C. elegans.

关键词： Three-dimensional displays X-ray imaging Nanobioscience Educational institutions Computed tomography

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Efficiency analysis of epicyclic gear mechanism of the improved ePaddle mechanism via virtual power

Efficiency analysis of epicyclic gear mechanism of the impro...

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IEEE International Conference on robotics and Biomimetics

作者： Huayan Pu Jinglei Zhao Yi Sun Shugen Ma Jun Luo Jason Gu Tao Wang Zhenbang Gong School of Mechatronics Engineering and Automation Shanghai University Shanghai China Department of Robotics Ritsumeikan University Shiga Japan Department of Electrical & Computer Engineering Dalhousie University Halifax NS Canada

ISBN: (纸本)9781479927456

Eccentric paddle mechanism based on epicyclic gear mechanism (ePaddle-EGM) is a novel locomotion mechanism designed for amphibious robot. The epicyclic gear mechanism is the key component of ePaddle-EGM to perform multiple gaits. In this paper, efficiency of the epicyclic gear mechanism is analyzed. Via the virtual power flow, we characterize how the efficiency relates with the velocity ratio and torque ratio. Two particular conditions verified the proposed efficiency formulas.

关键词： Gears Load flow Torque Robots Shafts Sun

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