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Wireless bilateral control based haptic teleoperation is a potential and challenging technique that extends human beings' sensing to a remote environment. However, communication delay in a bilateral control system directly influences the performance and even produces instability. This paper presents a stable and high performance bilateral control with a switching algorithm. This proposal uses the...
Force sensing and control are of paramount importance in robotic micromanipulation. A contact force regulator capable of accurately applying mechanical stimuli to a live Drosophila larva could greatly facilitate mechanobiology research on Drosophila and may eventually lead to novel discoveries in mechanotransduction mechanisms of neuronal circuitries. In this paper, we present a novel contact force...
As an ideal candidate for biology information detection, flexible resistance-array-type sensors have attracted extensive attention. But owing to the Neighbor Disturbance in resistance array, the accuracy of the sensors has been limited greatly. In the presented work, a novel resistance measuring circuit has been developed with equipotential shielding method, which shows a better accuracy in detecting...
A novel powered end-effector arm rehabilitation robot with a game based virtual environment is introduced. The built rehabilitation robot provides both gravitational support and assistive drive force in horizontal planar motion to the user's arm. The proposed configuration completely decouples the motor's torque and can senses force in two opposite directions within task space. The paper investigated...
Wearable robots have been mostly designed as exoskeletons, with segments and joints corresponding to those of the person they are coupled with. Exoskeletons are mainly employed to augment human body force and precision capabilities, or for rehabilitation purposes. More recently, new wearable robots resembling additional robotic limbs have been developed thanks to the progress in miniaturization and...
Kinesthetic teaching is a promising approach to acquire robot skills in an intuitive way. This paper focuses on learning skills that do not solely rely on kinematics but also need to take into account interaction forces. We present three novel concepts towards learning such force interaction skills. Firstly, we determine segments from a small number of continuous kinesthetic demonstrations using contact...
Force sensing and control are of paramount importance in robotic micromanipulation. A contact force regulator capable of accurately applying mechanical stimuli to a live Drosophila larva could greatly facilitate mechanobiology research on Drosophila and may eventually lead to novel discoveries in mechanotransduction of neuron circuitry. In this paper, we present a novel contact force scheme implemented...
In this paper we consider the problem of human-robot collaborative manipulation of an object, where the human is active in controlling the motion, and the robot is passively following the human's lead. Assuming that the human grasp of the object only allows for transfer of forces and not torques, there is a disambiguity as to whether the human desires translation or rotation. In this paper, we analyze...
This paper proposes the force-based variable compliance control method for a bilateral system which consists of master and slave robots with different degree of freedom (DOF). In order to control the bilateral system with this assumption, “bilateral control between master and slave robots for task realization” and “automation control for adaptation to environment in contact with a slave robot” are...
This paper proposes separated master system to decrease operational force of bilateral control in free motion. Operational force in bilateral control is not desirable because it prevent accurate reproduction of remote environmental force. Thus to decrease operational force is important. The master system consists of a grip part and an actuator part. A human operator manipulates the grip part. In free...
Autonomous decentralized control is a key concept for understanding the mechanism underlying the adaptive and versatile behavior of animals. Although the design methodology of decentralized control based on a dynamical system approach that can impart adaptability by using coupled oscillators has been proposed in previous studies, it cannot reproduce the versatility of animal behaviors comprehensively...
Modern industrial robots are fast and have very good repetitional accuracy, which have made them indispensable in many manufacturing applications. However, they are usually programmed to follow desired trajectories and only get feedback from position sensors. This works fine as long as the environment is very well structured, but does not give good robustness to objects not being positioned or gripped...
Control for biped robots with toe and heel joints is researched for walking on uneven terrain. In conventional research, a switching impedance controller using rotational torque with the toe and heel joints for adaptation to unknown uneven terrain was proposed. In this research, that controller is modified for the adaptation using vertical reaction force. Additionally, a generation method of force...
This contribution introduces a generic framework for sensor-based robot motion control. The key contribution is the introduction of an adaptive selection matrix for sensor-based hybrid switched-system control. The overall control system consists of multiple sensors and open- and closed-loop controllers, in-between which the adaptive selection matrix can switch discretely in order to supply command...
This paper surveys the utilization of the wall following concept for path planning in mobile robotics and proposes an improved wall following method for escaping from local minimum encountered by the artificial potential field (APF) method used in real-time path planning. In the new algorithm, more reliable switching conditions are designed to guarantee the success of escape. Moreover, memory information...
This paper presents the evaluation of a robot-assisted rehabilitation system with assist-as-needed and visual error augmentation training methods. In this robot-assisted rehabilitation system, an assistive controller provides robotic assistance to the participant as and when needed. In addition, the position errors that are visually fed back to the participant are amplified to heighten the participant's...
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