When developing a humanoid myo-control hand,not only the mechanical structure should be considered to afford a high dexterity,but also the myoelectric (electromyography,EMG) control capability should be taken into acc...
详细信息
When developing a humanoid myo-control hand,not only the mechanical structure should be considered to afford a high dexterity,but also the myoelectric (electromyography,EMG) control capability should be taken into account to fully accomplish the actuation *** paper presents a novel humanoid robotic myocontrol hand (AR hand Ⅲ) which adopted an underac- tuated mechanism and a forearm myocontrol EMG *** AR hand Ⅲ has five fingers and 15 joints,and actuated by three embedded *** can be found within each finger and between the rest three fingers (the middle finger,the ring finger and the little finger) when the hand is grasping *** the EMG control,two specific methods are proposed:the three-fingered hand gesture configuration of the AR hand Ⅲ and a pattern classification method of EMG signals based on a statistical learning algorithm-Support Vector Machine (SVM).Eighteen active hand gestures of a testee are recognized ef- fectively,which can be directly mapped into the motions of AR hand Ⅲ.An on-line EMG control scheme is established based on two different decision functions:one is for the discrimination between the idle and active modes,the other is for the recog- nition of the active *** a result,the AR hand Ⅲ can swiftly follow the gesture instructions of the testee with a time delay less than 100 ms.
Ice skating is subject to non-holonomic constraints. Modeling of the such system is difficult unlike n-link pendulum, cart-pendulum, and unicycle system. In this paper, using Projection Method, the model of an ice ska...
详细信息
Three-dimensional (3D) micro-structure of bone scaffold played an important role in cell adhesion and reproduction. The introduction of 3D measuring techniques in bone research made it possible to capture the actual a...
详细信息
Industrial robots are widely used and should be able to easily treat various work pieces. Therefore, a teaching and playback method is effective in small-quantity batch production. This paper suggests the mathematical...
详细信息
This paper presents a comparative study of indirect and direct workspace representation in human-robot interaction. Most of previous researches were using indirect workspace representation or were restricted to mobile...
详细信息
In this paper, a new infrared-based face identification system based on an input image decomposition is presented. The proposed image decomposition is a novel approach to transform an infrared image into a multilayer ...
详细信息
This paper presents setting up experimental systems based on MATX in laboratories and undergraduate school. This configuration has advantages of introduction cost, maintenance fee, easy reconstruction compared with co...
详细信息
ISBN:
(纸本)9783902661562
This paper presents setting up experimental systems based on MATX in laboratories and undergraduate school. This configuration has advantages of introduction cost, maintenance fee, easy reconstruction compared with commercial equipments. The advantages and effectiveness of the proposed experimental system configuration are demonstrated in this paper by using a Furuta pendulum system as an example.
Abstract This paper presents a tracked robot composed of the proposed crawler mechanism, in which a planetary gear reducer is employed as transmission device and provides two outputs in different forms with only one a...
详细信息
Abstract This paper presents a tracked robot composed of the proposed crawler mechanism, in which a planetary gear reducer is employed as transmission device and provides two outputs in different forms with only one actuator. The robot that contains two crawler modules can generate several configurations through controlling cooperatively the two actuators. This tracked robot, which uses two actuators to give four outputs, however could have less realizable postures than that where each output is provided by one actuator exactly. To figure out what postures can be generated by the introduced dual-crawler robot, the quasi-static analysis of the robot has been conducted in case of taking the rolling resistance into consideration, and its realizable postures are obtained numerically. The posture transition of the robot is also discussed in this paper.
This paper presents the mechanical design and kinematic analysis methodologies of a 3-PRR flexure-based parallel mechanism, which can be utilized to conduct planar precision positioning as required for automating micr...
详细信息
ISBN:
(纸本)9780889868106
This paper presents the mechanical design and kinematic analysis methodologies of a 3-PRR flexure-based parallel mechanism, which can be utilized to conduct planar precision positioning as required for automating micro/ nano manipulation tasks. Flexure hinges are used as the revolute joints to provide smooth motion in the range of micrometers. Three high performance piezoelectric actuators are utilized to drive the flexure-based mechanism. The kinematics of the proposed flexure-based parallel mechanism is established. Finite element analysis is conducted to validate the performance of the 3-PRR flexure-based parallel mechanism. Two simplified methodologies are proposed to improve the computational efficiency of the kinematics of the developed mechanism.
In this paper we present how nanoelectronics should advance medicine, providing details on the teleoperated techniques and equipment design methodology necessary for the effective development of nanorobots. The platfo...
详细信息
In this paper we present how nanoelectronics should advancemedicine, providing details on the teleoperated techniques andequipment design methodology necessary for the effective developmentof nanorobots. The platform architecture describes how to usea nanorobot for intracranial prognosis, and shows how it shouldbe integrated for medical instrumentation. Furthermore, thecurrent study establishes proteomics, nanobioelectronics, andelectromagnetics as the basis to advance medical nanorobotics.To illustrate the proposed approach, the nanorobots must searchfor protein overexpression signals in order to recognize initialstages of aneurysm. An advanced nanomechatromics simulator,using a three-dimensional task-based environment, is implementedto provide an effective tool for device prototyping and medicalinstrumentation analysis. Thus, based on clinical data and nanobioelectronics,the proposed model offers details about how a nanorobot shouldhelp with the early detection of cerebral aneurysm.
暂无评论