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SICE Annual Conference

作者： Eric Vincent Galeta Sabah Ahmed Victor Parque Haitham El-Hussieny Department of Mechatronics and Robotics Egypt-Japan University of Science and Technology Alexandria Egypt Department of Modern Mechanical Engineering Waseda University Tokyo Japan

Shape sensing in continuum robots is a crucial aspect of their operation as it enables the robots to accurately perceive and respond to their environment. However, traditional sensors such as encoders or potentiometers are not well suited for these types of robots as they cannot conform to the robot’s shape and are prone to damage. In this research, we investigate the problem of shape sensing in continuum robots using a new approach of a soft e-textile resistive sensor with multiple stacked layers. The e-textile, which can conform to the shape of the continuum robot body, employs a resistive material that changes its resistance in response to any deflection in the continuum robot. The characterization of the sensor, including hysteresis analysis and time response, is first presented. This is followed by an examination of the application of this e-textile sensor in estimating the curvature of a continuum robot using a feed-forward artificial neural network (ANN) to contribute to developing more robust and efficient shape sensing techniques for continuum robots.

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Compliance Control and Simulation of a Next-Generation Chewing Robot 42

Compliance Control and Simulation of a Next-Generation Chewi...

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42nd Chinese Control Conference, CCC 2023

作者： Wang, Xudong Xu, Weiliang Dhupia, Jaspreet Bronlund, John Han, Jianda The University of Auckland Department of Mechanical & Mechatronics Engineering Auckland New Zealand School of Food and Advanced Technology Massey University Palmerston North New Zealand Reddit Institute Palmerston North New Zealand Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin China Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin China

ISBN: (纸本)9789887581543

The aim of the development of the chewing robots is to study the biomechanics of chewing process or produce the bolus for further research by in vitro experiments. Some chewing robots are open loop controlled and couldn't behave like a human. However, to make the chewing robots more bin-mimic, force feedback based closed loop control is required. To improve the efficiency of the in-vitro chewing experiments, a next generation chewing robot with cam-follower based multi-chambers was developed previously, which can be used test the effect of different chewing parameters on the chewing performance and food texture changes simultanously. In this paper, modified admittance control based on the force feedback was applied to the chewing robot. At first, to improve food particle size reduction to a distribution which closely matches that produced by human and protect the components of the robot from breakage or impact damage, a spring mass based system, called remote center compliance (RCC), was developed and applied to the robot to control the chewing force. Then, based on the knowledge of human chewing process, power-based algorithm, and modified admittance control method were used as the feedback to adjust the angular velocity of the motor and corresponding chewing velocity of the teeth. The performance of the control model was also simulated, results showed that the model is reliable to control the robot and make it bio-mimic. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Compliance control

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Revolutionizing waste-to-energy: harnessing the power of triboelectric nanogenerators

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Advanced Composites and Hybrid Materials 2024年第3期7卷 1-42页

作者： Kumar, Khanapuram Uday Hajra, Sugato Mohana Rani, Gokana Panda, Swati Umapathi, Reddicherla Venkateswarlu, Sada Kim, Hoe Joon Mishra, Yogendra Kumar Kumar, Rajaboina Rakesh Lab National Institute of Technology Warangal506004 India Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology Daegu42988 Korea Republic of NanoBio High-Tech Materials Research Center Department of Biological Sciences and Bioengineering Inha University Incheon22212 Korea Republic of Department of Materials Science and Engineering National Taiwan University of Science and Technology Keelung Road Taipei10607 Taiwan Department of Chemistry Gachon University Seongnam13120 Korea Republic of Smart Materials NanoSYD Mads Clausen Institute University of Southern Denmark Alsion 2 Sønderborg6400 Denmark

Recently, there has been a lot of focus on developing new waste-to-energy technologies because they help us to provide sustainable energy solutions for future generations. This review paper investigates an innovative waste-to-energy technology known as triboelectric nanogenerators (TENGs), which uses the electrostatic induction and contact electrification principles of physics. The underlying physics of TENG technology allows for a wide range of material choices for its fabrication;as a result, waste materials are utilized for energy production using TENGs. It comprehensively discusses how various types of waste, including plastic, electronic, medical, household, and biowaste, can be integrated into TENG technology for efficient energy production. Furthermore, various applications of waste-based TENGs are discussed in detail. Finally, we projected challenges and future directions for creating a sustainable, green energy landscape. Graphical abstract: The review article presents a detailed exploration of triboelectric nanogenerators (TENGs) as novel waste-to-energy technologies that utilize waste materials. (Figure presented.) © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2024.

关键词： Nanogenerators

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Electro-humidity responsive soft actuators based on cellulose nanofibers-nanocrystals for bioinspired applications

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Science China Technological Sciences 2025年第7期68卷 1-9页

作者： Wang, Fan Qi, Ruibin Wu, Yujiao Li, Qinchuan Zhang, Junhui Park, Sukho School of Mechanical Engineering Zhejiang Sci-Tech University Hangzhou China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou China Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu Republic of Korea

Multifunctional responsive actuators have garnered considerable attention for their potential applications in soft robots, wearable devices, smart displays, environmental sensing, and biomimetic systems. Herein, we present a multifunctional color-changing ionic soft actuator that integrates electrical actuation and humidity-induced color-changing functionalities, fabricated using carboxylated cellulose nanofibers, ionic liquids, polyvinyl alcohol, cellulose nanocrystals, and poly(ethylene glycol) diacrylate. The electro-humidity responsive actuator exhibited remarkable actuation performance, including a maximum tip displacement (10.2 mm), low driving voltage (as low as 1.0 V), high operational stability (95.2% reliability after 2000 actuation cycles), broad working frequency range (0.2–3.0 Hz), and exceptional tolerance to humid environments (90% relative humidity). In addition, the actuator showcased reversible and integrated color-changing capabilities. These features enabled the design of innovative devices, such as biomimetic flowers and smart color-changing windows with tunable optical properties. Consequently, this multifunctional actuator provides a promising platform for applications in soft robots, optical anti-counterfeiting systems, information storage materials, and intelligent home technologies.

关键词： electro-humidity responsive actuator color-changing film actuation layer bioinspired applications

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Four-dimensional integral model of dry friction on the example of wheel movement

Four-dimensional integral model of dry friction on the examp...

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2021 International Conference on Automatics and Energy, ICAE 2021

作者： Salimov, M.S. Saypulaev, G.R. Merkuriev, I.V. Department of Robotics Mechatronics Dynamics and Strength of Machines National Research University Moscow Power Engineering Institute Moscow Russia

A four-dimensional model of dry friction in the interaction of a solid wheel and a horizontal rough surface is investigated. It is assumed that there is no separation between the wheel and the horizontal surface. The movement of the body occurs in conditions of combined dynamics, when in addition to the sliding movement, the body participates in spinning and rolling. The equation of motion of the wheel is compiled using the Appel equation. The resulting model of sliding, spinning, and rolling friction is given for the case where the contact area is a circle. The cumbersome integral expressions were replaced by fractional-linear Pade approximations. Pade approximations accurately describe the behavior of the components of the friction model. A mathematical model is proposed that describes the simultaneous sliding, spinning and rolling of a solid wheel. The dependences of the parallel and perpendicular components of the friction force and the torque of the spinning friction were ploted with respect to the parameter that characterizes the movement of the wheel. Comparisons of the integral friction model and the model based on Pade approximations are presented. The results of the comparison showed a qualitative correspondence of the models. After obtaining the equation of motion, the simulation of motion at a constant control torque of the wheel is carried out. The graphs allow you to match the logical behavior of the wheel movement. © 2021 Institute of Physics Publishing. All rights reserved.

关键词： Wheels

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Active-type piezoelectric smart textiles with antifouling performance for pathogenic control

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npj Flexible Electronics 2024年第1期8卷 223-232页

作者： Su Eon Lee Hanna Lee Jang Hwan Kim Jae Chul Park Sooah Kyung Hayoung Choi Su Hyun Baek Jun Hyun Park Sohyun Park Jeong-Min Kim Hye-Jun Jo Seung Hyeon Cho Jiwoong Kim Hojun Kim Seung Ho Han Jun Kyun Oh Bong Hoon Kim Department of Robotics and Mechatronics Engineering DGISTDaegu42988Republic of Korea Department of Polymer Science and Engineering Dankook UniversityYongin16890Republic of Korea Department of Materials Science and Engineering Ajou UniversitySuwon16499Republic of Korea Center for Advanced Biomolecular Recognition KISTSeoul02792Republic of Korea Department of Materials Science and Engineering Soongsil UniversitySeoul06978Republic of Korea Division of Emerging Infectious Diseases KDCACheongju28159Republic of Korea Safety Measurement Institute Korea Research Institute of Standards and Science(KRISS)Daejeon34113Republic of Korea Division of Bio-Medical Science and Technology KIST SchoolUST02792 SeoulRepublic of Korea Electronic Convergence Materials&Devices Research Center Korea Electronics Technology Institute(KETI)13509 SeongnamRepublic of Korea

Recently,an investigation into preventive measures for coronavirus disease 2019(COVID-19)has garnered considerable ***,strategies for the proactive prevention of viral pathogens have also attracted significant interest in the field of wearable devices and electronic textiles research,particularly due to their potential applications in personal protective *** this study,we introduce smart textiles designed with optimized piezoelectric devices that exhibit antifouling performance against microorganisms and actively inactivate *** active-type smart textiles,which incorporate advanced lead zirconate titanate(PZT)ceramics,a stretchable interconnector array,and polymeric fabric,demonstrate effective antifouling capabilities,detaching approximately90%of Escherichia coli and75%of ***,they inactivate viruses,releasing~26.8 ng of N protein from ruptured SARS-CoV-2,using ultrasonic waves within the wearable *** results show that piezoelectric smart textiles significantly reduce the spread of COVID-19 by leveraging the electrical and acoustic properties of PZT ceramics.

关键词： textiles smart piezoelectric

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Smart Shopping and Cart Billing System Using Deep Learning

Smart Shopping and Cart Billing System Using Deep Learning

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Intelligent Cyber Physical Systems and Internet of Things (ICoICI), International Conference on

作者： Ramkumar S Saravanan R Kanagaraj Venusamy Rani Jabbar N. Jeevitha Department of Robotics and Automation Rajalakshmi Engineering College Thandalam Chennai India Department of Mechatronics Engineering Rajalakshmi Engineering College Chennai India EDICT Department Electrical Engineering Program Bahrain polytechnic Isa town Kingdom of Bahrain Department of Electrical and Electronics Engineering Roever Engineering College Perambalur India

ISBN: (数字)9798331540661

ISBN: (纸本)9798331540678

There are many problems faced by people who stand for hours at billing counter after shopping, even though crowds are avoided everywhere, shopping mall billing queue isn't reducing since ages. Since the world relies on automation today, everyone has to automate processes which consumes time, money and efforts wherever possible. The technique related with the use of Raspberry Pi, LCD display and Webcam helps the people to bill the groceries within the shopping cart. It reduces consumption of time and their energy can be conserved which can't happen when they stand in a queue for billing process. User have to scan the object in front of webcam and LCD display allows them to add purchased items along with their price and quantity. They can also remove the product fromthe cart and it will be automatically removed. At the end of process, payment can be made online using a QR code or UPI. The Bill will be generated to their respective mail or it will be sent as SMS. User have to register or Log in when they start shopping. Automatic detection is possible without any inspection behind. The model is much portable and does not face any problem in its operation. When compared with the existing methods the processor, display along with its webcam accuracy is much better, it does not require complete continuous guidance and maintenance upon its usage. The need to push the cart has been eliminated as the cart can move along/follow the user autonomously.

关键词： Deep learning Webcams QR codes Inspection Liquid crystal displays Registers Maintenance Internet of Things Faces Postal services

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Nonlinear Modes as a Tool for Comparing the Mathematical Structure of Dynamic Models of Soft Robots

Nonlinear Modes as a Tool for Comparing the Mathematical Str...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Pietro Pustina Davide Calzolari Alin Albu-Schäffer Alessandro De Luca Cosimo Della Santina Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy Department of Cognitive Robotics Delft University of Technology Delft Netherlands Institute of Robotics and Mechatronics German Aerospace Center Oberpfaffenhofen Germany Department of Informatics Technical University of Munich Garching Germany

Continuum soft robots are nonlinear mechanical systems with theoretically infinite degrees of freedom (DoFs) that exhibit complex behaviors. Achieving motor intelligence under dynamic conditions necessitates the development of control-oriented reduced-order models (ROMs), which employ as few DoFs as possible while still accurately capturing the core characteristics of the theoretically infinite-dimensional dynamics. However, there is no quantitative way to measure if the ROM of a soft robot has succeeded in this task. In other fields, like structural dynamics or flexible link robotics, linear normal modes are routinely used to this end. Yet, this theory is not applicable to soft robots due to their nonlinearities. In this work, we propose to use the recent nonlinear extension in modal theory -called eigenmanifolds- as a means to evaluate control-oriented models for soft robots and compare them. To achieve this, we propose three similarity metrics relying on the projection of the nonlinear modes of the system into a task space of interest. We use this approach to compare quantitatively, for the first time, ROMs of increasing order generated under the piecewise constant curvature (PCC) hypothesis with a high-dimensional finite element (FE)-like model of a soft arm. Results show that by increasing the order of the discretization, the eigenmanifolds of the PCC model converge to those of the FE model.

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Robot-Assisted Navigation for Visually Impaired through Adaptive Impedance and Path Planning

Robot-Assisted Navigation for Visually Impaired through Adap...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Pietro Balatti Idil Ozdamar Doganay Sirintuna Luca Fortini Mattia Leonori Juan M. Gandarias Arash Ajoudani HRI2 Lab Istituto Italiano di Tecnologia Genoa Italy Dept. of Informatics Bioengineering Robotics and System Engineering University of Genoa Genoa Italy Systems Engineering and Automation Department Robotics and Mechatronics Lab University of Malaga Malaga Spain

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This paper presents a framework to navigate visually impaired people through unfamiliar environments by means of a mobile manipulator. The Human-Robot system consists of three key components: a mobile base, a robotic arm, and the human subject who gets guided by the robotic arm via physically coupling their hand with the cobot’s end-effector. These components, receiving a goal from the user, traverse a collision-free set of waypoints in a coordinated manner, while avoiding static and dynamic obstacles through an obstacle avoidance unit and a novel human guidance planner. With this aim, we also present a legs tracking algorithm that utilizes 2D LiDAR sensors integrated into the mobile base to monitor the human pose. Additionally, we introduce an adaptive pulling planner responsible for guiding the individual back to the intended path if they veer off course. This is achieved by establishing a target arm end-effector position and dynamically adjusting the impedance parameters in real-time through a impedance tuning unit. To validate the framework we present a set of experiments both in laboratory settings with 12 healthy blindfolded subjects and a proof-of-concept demonstration in a real-world scenario.

关键词： Target tracking Navigation Robot kinematics End effectors Real-time systems Path planning Sensors

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Dynamics of the Impact with Benson Friction Model 15th

Dynamics of the Impact with Benson Friction Model

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15th Conference on Acoustics and Vibration of Mechanical Structures, AVMS 2019

作者： Marghitu, Dan B. Cojocaru, Dorian Department of Mechanical Engineering Auburn University AuburnAL36349 United States Department of Mechatronics and Robotics University of Craiova Craiova Romania

ISBN: (纸本)9783030541354

An analytical model for the impact of a rigid link in planar pure rotation with a solid surface is developed. The free end of the link undergoes elastic and elasto-plastic deformations during the compression phase of the impact. The restitution is considered elastic with a permanent deformation. During the impact, a friction force based on Benson model is employed. The differential impact equations are solved for different initial impact incident angle and distinct values of the coefficient of kinetic friction. © 2021, Springer Nature Switzerland AG.

关键词： Deformation

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