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In this work, we present a bio-inspired fin prototype as a propulsion system for a submarine robot. We explain the rajiform locomotion, which is intended to be imitated with the movements of the fin. It is also explained how the undulations on the fin allow it to have different behaviors, thus generating thrust in different directions, which in turn generates several types of motion for the fin. Our...
An interesting about MAV and a research for flapping wing aero vehicle has been increased. It is required that take-off and landing abilities to lift up a vehicle by flapping motion to achieve a special purpose for flapping wing aero vehicle. An airfoil has to generate lift force more than a weight of the body to work take-off from the ground without additional force. MAV can generate enough lift...
In recent years, service robots have advanced toward having to the ability to move autonomously in an environment in which they co-exist with humans. Thus, the robots must engage in obstacle avoidance to arrive at their goal point. In our previous research, we developed the artificial potential based method that the robot to plans an effective path simulating pedestrian characteristics by gently changing...
Master-slave surgical robots have been studied and developed to support surgeons. Robotic functions such as motion scaling and hand shaking correction can extend the ability of surgeons. However, some problems are remaining in robotic surgery. Operation time which can become the burden to surgeons is still long. Surgeons must assess the situation, decide the next task correctly, and achieve tasks...
Piezoelectric ultrasonic motors (PUMs) are based on the concept of driving the runner by a mechanical vibration excited on the stator via the converse piezoelectric effect. They exhibit merits of small size, simple structure, quick response, high accuracy and resolution, self-locking when power off and a lack of electromagnetic radiation. The linear PUMs become the research focus in recent years as...
This paper describes the mechanical design of a prototype of a 4 degree of freedom upper limb exoskeleton suit. A cable driven system actuated by an array of pneumatic muscles, located at the back of the suit, was implemented in the prototype. The developed design aims to enhance human upper body strength for applications ranging from the rehabilitation of stroke patients to enabling workers and soldiers...
Simulation of the planar magnetic actuation of ferromagnetic bodies is proposed and experimentally verified in the framework of the system for precise positioning of miniature passive robots with two degrees of freedom. Major goal of presented development is to balance computational effort of the simulation with complexity of computational problem. Proposed methodology is developed for efficient simulation...
Generation gap can make communication difficult, even within a family. Each family member has a preferred style of communication. To address this, we proposed a shared-agent system for encouraging remote communication between family members. This paper reports the results of a pilot study, in which a prototype robot interface was evaluated, and the acceptance of asynchronous communication by elderly...
In recent years, people's interest in the artificial intelligence (AI) is increasing. Systems with AI technology are developed to be applied to various fields. The study model to create AI whose function simulates a human's mind and feelings and the developments are in progress. We assume that it is impossible to express "human-like qualities" by algorithm for autonomous AI with learning...
We propose a SNS Agency Robot that can be used for the interactive communication between elderly people and younger generation via existing Social Networking Service (SNS). This robot system has been implemented on a cloud service and a single board computer embedded in a human-type robot, which is equipped with a microphone, camera, speaker, sensors, and network access function, so that elderly people...
We describe the concept and first prototype of a novel mechatronic design of a robotic gripper, which aims at being mounted on a humanoid robot to achieve firm (i.e. locked) and robust grasps. Such grasps could ideally support complex multi-contact motions, such as ladder climbing, or manipulation of complex tools, with energy efficiency. For this purpose, we propose a solution by designing a smart...
Heterogeneity of current software solutions for 5G is heading for complex and costly situations, with high fragmentation, which in turn creates uncertainty and the risk of delaying 5G innovations. This context motivated the definition of a novel Operating Platform for 5G (5G-OP), a unifying reference functional framework supporting end-to-end and multi-layer orchestration. 5G-OP aims at integrated...
This paper presents the design, mathematical model, and evaluation of a novel variant of a variable stiffness actuator. The actuator combines a cam and a variable lever mechanism. The lever length changes through the rotation of the follower and results in the change of the mechanism stiffness. The design of the actuator results in a nearly linear torque-deflection characteristic, earning it its name:...
Motor relearning after stroke is a lengthy process which should be continued after patients get discharged from the clinic. This project aims at developing a system for telerehabilitation which enables stroke patients to exercise at home autonomously or under supervision of a therapist. The system includes haptic therapy devices which are more promising and beneficial for stroke rehabilitation than...
This paper describes the development of "Protoboy", an educational and fun alternative that applies aspects of Digital Game-Based Learning (DGBL) and gamification in order to motivate students during their education to gain knowledge about logic and computer programming. The software prototype built allows providing programming concepts and challenges that are fun and intuitive. The tests...
This paper considers to develop a prototype master-slave robotic system for teleoperated ultrasonography. Six DOF motions for ultrasonography are provided through Stewart-Gough mechanisms for both master/slave devices. As a slave robot, a ultrasound probe is installed inside of the platform and contacts with patients skin through the hole in the base frame to minimize the size of the robot. The master...
High productivity of press lines is induced by high speed components such as the press devices and transfer robots disposed between presses. Also the flexibility of press lines is embodied by the change of die in press devices and the change of end-effector of transfer robots. So to speak, according to the change of handled material to be pressed, there should be the change of die in press devices...
Most of the wearable robots today assist their users by acting in parallel or in series to their natural limbs. We propose a different approach to wearable robotics, consisting of devices that provide users with additional, independent robotic limbs. We present a wearable robot prototype that can achieve these goals with an extremely light weight apparatus. In order to control additional robotic limbs...
This paper presents a novel manufacturing paradigm for constructing origami-inspired pop-up robots for future space exploration missions. The new approach uses a textile-enhanced rigid-flex printed circuit board (PCB) to implement a folding robot chassis using robust, spaceflight-tolerant materials, and integrates the robot electronics directly into the chassis for added compactness. The new approach...
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