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Presents the introductory welcome message from the conference proceedings. May include the conference officers' congratulations to all involved with the conference event and publication of the proceedings record.
This tutorial deals with how the overall human performance while working can be detected, under different conditions and scenarios. The tutorial will talk about how regular and real-time monitoring of people can be carried out through eye-tracking and how it can be integrated with other environment factors to develop a recommender system. Particularly, the speakers would articulate a vehicular driving...
In this study, we propose a low-cost power-assisted cart that distributes the torque of a motor using a differential gear and brakes. Carts are designed to help transport heavy payloads and have multiple applications. As the cart size and payload weight increase, cart operation becomes difficult. This led to the development of power-assisted carts, which employ actuators to support the workload.
Robots working with humans are expected to be more adaptive to failures of tasks and to have easier communication channels with those co-working humans. With this goal in mind, this paper presents a motion recognition framework for robots including a success/failure classification of tasks based on natural language representation. The proposed method consists of three parts: motion language model,...
Tactile sensing is an important biological function. Additionally, not only humans, robotic manipulators also require tactile sensing ability to improve quality of grasping and environment perception. Regarding tele-operated robotics, object manipulation, and surface texture recognition is an important function. These sensor data should be transmitted to the operator correctly so that the operator...
This paper exploited the single trial decoding of cortical-muscular activities (CMAs). The CMAs were measured by acquiring Electromyographic (EMG) signal, and Electroencephalographic (EEG) signal. We focused on CMAs related to sustained muscular contractions (SMC), and investigated on the classification performance of four types of CMAs with different combinations of three types of features. The four...
In this paper, a cable-driven haptic interface able to move in the six-dimensional space, suitable for applications in various robotic scenarios is presented. The device takes advantage of four force-controlled twisted string actuators to generate a linear force along the three Cartesian space dimensions while providing a considerable force-weight ratio and low inertia. The system consists of a frame...
This paper proposes a new relative-motion-based force bounding approach (dynamic FBA) for stably interacting with dynamic virtual objects. The new approach can overcome some limitations of the previous static approach (static FBA) [8] that cannot display the interaction force with moving virtual objects because the previous controller considered only the motion of the operator. A new passivity condition...
This paper describes a principle, a design and an evaluation of a light-weight safe arm equipped with 3-dimensional gravity compensation mechanism for a collaborating robot. This arm realizes the gravity compensation for 3-dimensional arm posture by the addition of a rotary joint to the base of a pantograph mechanism and arranging links and counterweights to balance the center of gravity. It is possible...
This paper shows a prosthetic wrist joint that has 3 rotary axes controlled in antagonistic actuation similar to a human musculo-skeletal system. Some dexterous actions of human arm toward external entities are much attributed to adjustability of its joint stiffness. The joint stiffness of human articulations or of those of any other vertebrate animals is adjustable due to an antagonistic structure...
As the rapid progress of science and technology, the free-form surface optical component has played an important role in spaceflight, aviation, national defense, and other areas of the technology. While the technology of fast tool servo (FTS) is the most promising method for the machining of free-form surface optical component. However, the shortcomings of short-stroke of fast tool servo device have...
For humans, the sense of touch is essential for interactions with the environment. With robots slowly starting to emerge as a human-centric technology, tactile information becomes increasingly important. Tactile sensors enable robots to gain information about contacts with the environment, which is required for safe interaction with humans or tactile exploration. Many sensor designs for the application...
Selecting transmission components for tendon driven actuation systems can be challenging because of the variety of available solutions. Synthetic fiber ropes have great potential for these systems, but the typically provided characteristics are not always suitable to decide whether a rope should be used in the specific system or not. In this paper, a comparative evaluation of the elongation characteristic...
This paper presents the design and control of a biomimetic knee joint for biped robots. The robotic knee joint driven by pneumatic artificial muscles is designed by imitating the structure of the human knee. It has desirable characteristics similar with human knee joint including joint compliance, changeable instantaneous center of rotation, as well as large range of joint motion. In order to model...
In this study, we developed a 4-degrees of freedom (DOF) force feedback device independent of its operational component comprising pneumatic artificial muscles and magnetorheological clutches. Research and development of force feedback devices is becoming popular in fields such as entertainment, remote operation, and rehabilitation. These areas of research are related to virtual reality and augmented...
Pneumatic muscles (PMs)-driven robots become more and more popular in medical and rehabilitation field as the actuators are intrinsically complaint and thus are safer for patients than traditional rigid robots. This paper proposes a new compliance adaptation method of a soft ankle rehabilitation robot that is driven by four pneumatic muscles enabling three rotational movement degrees of freedom (DoFs)...
Inflatable manipulators open new trends in robotic applications. In this paper, a new inflatable actuator to articulate a long-range inflatable robotic arm, is presented. Completely made of high strength fabric, its low mass leads to large force-weight ratios and a stroke almost equal to twice its overall length. The operation principle, as well as the relations among the displacement, the pressure...
This paper discusses modeling and nonlinear control of a joint antagonistically actuated by two pneumatic, artificial muscles. A single model of the whole system is obtained by a combined physical and phenomenological modeling approach. The combined model for the joint, the muscles and the proportional valves results in a nonlinear, affine-in-control system description. The model is used to derive...
In this paper, to simultaneously meet the challenge of complex high-speed large-curvature contouring tasks and high-performance motion control accuracy, a generalized global task coordinate frame (GTCF) based learning adaptive robust control (LARC) strategy is synthesized for biaxial mechatronic motion systems. The generalized GTCF is globally defined based on a constructed equivalent shape function...
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