The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper aims to realize sensorless motion transmission for haptic teleoperation between remote places. Sensorless systems are endurable against operations under harsh environments. This is a great advantage suitable for teleoperation systems. To achieve this purpose, two types of voltage compensation are proposed for torque transmission and velocity synchronization. These two targets are known...
Nowadays, decreasing birthrate and aging population become to be the serious social problem in Japan. Therefore, needs of assistive devices are more and more increasing. When people use such assistive devices, there is a risk that devices cost user excessive burden. So analysis and evaluation of motions and load of person who uses assistive devices are necessary. In this paper, a model to analyze...
This paper analyzes the convergence of the rotor position tracking in signal-injection sensorless control especially for heavily saturated IPMSMs. In the analysis, it is revealed that the harmonic inductance and the operating current variation are critical factors determining the operation limit of signal-injection sensorless control. Considering this, the feasibility region of signal-injection sensorless...
Precise force detection is required to realize precise force control, and a lot of research have been conducted for precise and robust force estimation. Based on the industrial trends that the number of load-side encoders is increasing in various industrial fields, a force observer using load-side encoder information has already been proposed to avoid the estimation performance deterioration in the...
Intelligent perception to determine the physical interaction between robotic hands and the environment is a topic of great interest for the sensing and robotics communities. Sensor information on object stiffness and associated object deformation is essential to plan and execute stable and tight grasps. This paper proposes a novel robot-finger-integrated perception sensor to estimate the physical...
In this paper, a sensorless admittance control scheme is developed for robot manipulators in the presence of input saturation by employing neural networks. To deal with system uncertainties, the radial basis function neural network (RBFNN) is integrated into control design. In order to deal with input saturation, a compensator is applied to handle this problem. To interact with the environment, admittance...
A motion-copying system enables to store and reproduce human motions composed of position and force informations. The system can automate human skills, and can substitute automatic machines for professional human work. However, conventional motion-copying systems have been studied by considering motion-reproduction of only stored human motion. It does not use an advantage of automatic machines which...
In the context of human-robot interaction, detecting an impact between a serial robot manipulator and the human operator or its environment efficiently and at the earliest is essential for safe and efficient operations. This work relies on the generalized momentum based-observer for robot impact detection using only motor/joint information and characterizes the uncertainties to quantify the expected...
Rehabilitation is very important for patients who suffer from stroke or spinal cord injury. To restore musculature, it is necessary to prepare for the next step of therapeutics. The passive exercise is one of the method to maintain the musculature and prevent complication as deep vein thrombosis (DVT) as the patient cannot move leg until patient has been recovered. After that active exercise can be...
We present a methodology for estimating joints torque due to external forces applied to a robot with large joints backlash and friction. This undesired non-linearity is common in personal robot, due to the use of low cost mechanical components and type of usage. Our method enables contact detection and human-robot physical interaction capabilities without using extra sensors. The effectiveness of...
The fuzzy logic controller with universe of discourses for a nonholonomic mobile robot has been presented in this paper. The mobile robot kinematic and dynamics equations are developed based on Lagrangian, and Newton-Euler approach. The fuzzy logic controller with dynamic universe of discourse is applied to control the posture and torque of mobile robot in unknown environment. The result shows that...
High dynamic capabilities of industrial robots make them dangerous for humans and environment. To reduce this factor and advance collaboration between human and manipulator fast and reliable collision detection algorithm is required. To overcome this problem, we present an approach allowing to detect collision, localize action point and classify collision nature. Internal joint torque and encoder...
This article is an implementation of the results described in earlier papers for odometry modelling and navigation system synthesis. It'll be part of the introduction in Erasmus+ Innovative Open Education on IoT. It's already used for MOOC course published on national education platform https://openedu.ru/, the e-learning control theory course used in ITMO University. The main goal of this course...
This paper presents a decentralized adaptive super-twisting control method for modular and reconfigurable robots (MRRs) with uncertain environment contact. Unlike conventional methods that rely on robot-environment contact model or force/torque sensing, this paper addresses the problem of controlling MRRs in contact with uncertain environment that using only local dynamic information of each joint...
In recent years, minimally invasive surgery (MIS) has been developed in medical field. MIS is performed by inserting some tools such as forceps into holes made on a patient's body. MIS requires surgeons of skills and experiences because of the limited space to operate tools and the slight tactile sensation which the operator can feel through the forceps. To improve the performance of surgeons, this...
We present highly integrated sensor-actuator-controller units (SAC units), addressing the increasing need for easy to use components in the design of modern high-performance robotic systems. Following strict design principles and an electro-mechanical co-design from the beginning on, our development resulted in highly integrated SAC units. Each SAC unit includes a motor, a gear unit, an IMU, sensors...
Lower limb exoskeletons are being used to assist people with movement disorders during activities of daily living or rehabilitation. However, providing a natural interface that automatically adapts to the patient's movement limitations remains an open challenge. In this paper, we present a control implementation that combines a compliant actuator technology with the concept of tacit learning to improve...
Lower Limb Exoskeleton robot that can facilitate stair walking is a big challenge, most systems could only provide level ground walking. In this study, a lightweight (0.5kg at ankle, 0.5kg at waist for control box) and autonomous exoskeleton Ankle Robot was proposed to provide power assistance for gait training of chronic stroke patients and it can facilitate three walking conditions in real-time:...
This paper highlights the main features of the COLIBRI project aiming at constructing a flapping twin-wing robot of the size of hummingbird (Colibri in French), actively stabilized in pitch and roll, and capable of hovering. The prototype has a total mass of 22 gr, a wing span of 21 cm and a flapping frequency of 22 Hz. The paper discusses some recent improvements and on-going works.
This paper introduces the EMU, a three-dimensional robotic manipulandum for rehabilitation of the upper extremity for patients with neurological injury. The device has been designed to be highly transparent, have a large workspace, and allow the use of the hand for interaction with real-world objects to provide additional contextual cues during exercises. The transparency is achieved through the use...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.