Nature grasping by a cable-driven under-actuated anthropomorphic robotic hand

Human hand is the best sample for humanoid robotic hand and a nature grasping is the final target that most robotic hands are pursuing. Many prior researches had been done in virtual and real for simulation the human grasping. Unfortunately, there is no perfect solution to duplicate the nature grasping of human. The main difficulty comes from three points. 1. How to 3D modelling and fabricate the real hand. 2. How actuated the robotic hand as real hand. 3. How to grasp objects in different shapes like human hand. To deal with these three problems and further to provide a partial solution for duplicate human grasping, this paper introduces our method to solve these problems from robotic hand design, fabrication, actuation and grasping plan. Our modelling progress takes only around 12 minutes that include 10 minutes of 3D scanning of a real human hand and two minutes for changing the scanned model to an articulated model by running our algorithm. Our grasping plan is based on the sampled trajectory and easy to implement for grasping different objects. Followed these steps, a seven DOF robotic hand is created and tested in the experiments

Machine Performers: Agents in a Multiple Ontological State

In this thesis, the author explores and develops new attributes for machine performers and merges the trans-disciplinary fields of the performing arts and artificial intelligence. The main aim is to redefine the term “embodiment” for robots on the stage and to demonstrate that this term requires broadening in various fields of research. This redefining has required a multifaceted theoretical analysis of embodiment in the field of artificial intelligence (e.g. the uncanny valley), as well as the construction of new robots for the stage by the author. It is hoped that these practical experimental examples will generate more research by others in similar fields. Even though the historical lineage of robotics is engraved with theatrical strategies and dramaturgy, further application of constructive principles from the performing arts and evidence from psychology and neurology can shift the perception of robotic agents both on stage and in other cultural environments. In this light, the relation between representation, movement and behaviour of bodies has been further explored to establish links between constructed bodies (as in artificial intelligence) and perceived bodies (as performers on the theatrical stage). In the course of this research, several practical works have been designed and built, and subsequently presented to live audiences and research communities. Audience reactions have been analysed with surveys and discussions. Interviews have also been conducted with choreographers, curators and scientists about the value of machine performers. The main conclusions from this study are that fakery and mystification can be used as persuasive elements to enhance agency. Morphologies can also be applied that tightly couple brain and sensorimotor actions and lead to a stronger stage presence. In fact, if this lack of presence is left out of human replicants, it causes an “uncanny” lack of agency. Furthermore, the addition of stage presence leads to stronger identification from audiences, even for bodies dissimilar to their own. The author demonstrates that audience reactions are enhanced by building these effects into machine body structures: rather than identification through mimicry, this causes them to have more unambiguously biological associations. Alongside these traits, atmospheres such as those created by a cast of machine performers tend to cause even more intensely visceral responses. In this thesis, “embodiment” has emerged as a paradigm shift – as well as within this shift – and morphological computing has been explored as a method to deepen this visceral immersion. Therefore, this dissertation considers and builds machine performers as “true” performers for the stage, rather than mere objects with an aura. Their singular and customized embodiment can enable the development of non-anthropocentric performances that encompass the abstract and conceptual patterns in motion and generate – as from human performers – empathy, identification and experiential reactions in live audiences

Atlas in the Cloud: Cloud Computing for the DARPA Robotics Challenge

This report describes the research, system analysis, design methodology, and testing procedures that were used to create a Cloud-based robotics development kit. The goal of this project was to utilize Cloud computing resources in support of the Worcester Polytechnic Institute-Carnegie Mellon University DARPA Robotics Challenge team. The following report begins with background on the underlying technologies and the DARPA Robotics Challenge. The report includes a systems analysis and design methodology. User feedback informed subsequent revision of the original design. The report ends with implementation details, testing, and the results achieved by the system

A case study exploring the effects of using an integrative STEM curriculum on eighth grade students’ performance and engagement in the mathematics classroom

To address the need to improve student achievement in STEM disciplines, effort has been made to develop a new of tools for STEM education (Bybee, 2013). The Robotics and Engineering Design Curriculum (REDC) provides students an opportunity to develop systems thinking abilities while integrating science and mathematics concepts. Using an exploratory case study approach within a situated cognition framework, this study examines the effects of using REDC on 54 eighth grade students’ performance and engagement during 5-week integrative STEM instruction in the mathematics and science class. Situational factors that contribute to students’ success in learning STEM concepts are also examined. This study employed mixed-methods techniques. The quantitative data collected included pre/post achievement tests and pre/post motivation and engagement scale (MES) surveys. Quantitative data analysis included reliability analyses and paired sample t-tests. The results of the reliability analyses for the achievement test and MES survey report acceptable Cronbach’s alpha (.843 and .787, respectively). Qualitative data collected included semi-structured interviews, field notes and student artifacts (engineering notebook and printed prototypes). Qualitative data analysis used coding procedures suggested by Saldana (2012) where patterns were identified and grouped to allow the emergence of themes. Collectively, the data was triangulated to support six emerging themes. The emerging themes regarding the effect of using the curriculum are as follows: (1) the developing anthropomorphic relationship with the robot enhances engagement, (2) engagement is impacted by purposeful and intentional physical action, and (3) purposeful collaboration promotes engagement through the construction of meaning and interaction. Three themes emerged identifying factors that contribute to success: (1) learning environment must have transformative learning potential, (2) learning experiences underpinned by design thinking contribute to success and (3) contextual relevance is enhanced when students have the freedom to their design learning journey. This study addresses the need for research into the implementation of 3-D design and manufacturing in the middle school classroom. Bybee, R. W. (2013). The case for STEM education: Challenges and opportunities. National Science Teachers Association. Saldaña, J. (2012). The coding manual for qualitative researchers (No. 14). Los Angeles, Ca: Sage

Development of an Upper Limb Myoelectric Prothesis in Flexible/Hybrid Material, for Application in Young Patients

With the recent developments in the Additive Manufacturing (AM) industry, new methods of prostheses production have taken over the prosthetic industry. These new prostheses models produced using 3-Dimensional (3D)-printing methods solve some of the issues of the most common prostheses, such as cost and weight, but, despite their growth, still present high rejection rates, especially in children. These rejections are mostly related to the low levels of anthropomorphism and limitations in terms of functionality associated to 3D printed prostheses. The main goal of this study was to develop an aesthetically appealing 3D printed myoelectric prosthesis for a four year old child with a transverse metacarpal total deficiency. The development of the prosthesis was based on the assessment and improvement of current 3D printable prosthetic models, and the integration of a myoelectric classifier and the electronic components into the model. The whole prosthesis was designed using a combination of the Fusion 360 CAD and SolidWorks CAD 2021 softwares, and produced using The Original Prusa i3 MK3S with polyactic acid (PLA) or Filaflex filaments. The prosthesis was designed through an iterative process, where several prototypes were developed in order to optimise its appearance and functionality. Some printed models were subjected to pull tests, that evaluated its flexibility and allowed the development of the electronic sector of the prosthesis. The developed prosthesis possessed a high level of anthropomorphism and functionality, consisting of a solution that is quite similar to the human hand and was able to simulate the intended movements, although with some limitations. Additionally, the device was relatively cheap and light when compared to existing 3D-printed myoelectric prostheses. Although this thesis has some limitations, it certainly contributed to clarify many of the doubts that still exist in the scientific community. Hopefully, it will help to further develop the prosthetic industry.Nos últimos anos, o desenvolvimento de técnicas de Manufactura Aditiva (MA) tem permitido a evolução nos métodos de produção de próteses. Esses novos modelos de próteses produzidos usando métodos de impressão 3D resolvem alguns dos problemas das próteses mais comuns no mercado, como custo e peso, mas, apesar destes avanços, ainda apresenta altas taxas de rejeição, principalmente em crianças. Essas taxas de rejeição estão muitas vezes relacionadas com os baixos níveis de antropomorfismo e funcionalidade destes modelos. O principal objetivo deste estudo tornou-se então desenvolver uma prótese mioelétrica esteticamente atraente, produzida através de impressão 3D, para ima criança de quatro anos e com deficiência total do metacarpo transverso. O desenvolvimento da prótese deu-se por meio da avaliação do modelos atuais de próteses produzidos por impressão 3D, melhoria das suas características e integração de um classificador mioeletrico e os componentes eletrônicos associados. A prótese foi toda projetada usando uma combinação dos softwares Fusion 360 CAD e SolidWorks CAD 2021 e produzido utilizando a The Original Prusa i3 MK3S e filamentos de PLA ou Filaflex. A prótese foi concebida através de um processo iterativo, onde vários protótipos foram desenvolvidos de forma a otimizar a sua aparência e funcionalidade. Alguns dos modelos impressos foram submetidos a testes de tração, de forma a avaliar a sua flexiblidade e desenvolver as componentes eletrónicas da prótese. A prótese desenvolvida possuía um alto nível de antropomorfismo e funcionalidade, obtendo-se uma solução bastante semelhante à mão humana capaz de simular, embora com algumas limitações, os movimentos pretendidos. Além disso, o dispositivo é relativamente barato e leve quando comparado com outros modelos de próteses produzidos por impressão 3D. Embora o protótipo final tenha algumas limitações, certamente contribui para o desenvolvimento do modelo prótetico e esclarece alguns dos problemas em modelos antigos. Espera-se que este estudo ajude a aprofundar e desenvolver a indústria das próteses

Robot Control for Remote Ophthalmology and Pediatric Physical Rehabilitation

The development of a robotic slit-lamp for remote ophthalmology is the primary purpose of this work. In addition to novel mechanical designs and implementation, it was also a goal to develop a control system that was flexible enough to be adapted with minimal user adjustment to various styles and configurations of slit-lamps. The system was developed with intentions of commercialization, so common hardware was used for all components to minimize the costs. In order to improve performance using this low-cost hardware, investigations were made to attempt to achieve better performance by applying control theory algorithms in the system software. Ultimately, the controller was to be flexible enough to be applied to other areas of human-robot interaction including pediatric rehabilitation via the use of humanoid robotic aids. This application especially requires a robust controller to facilitate safe interaction. Though all of the prototypes were successfully developed and made to work sufficiently with the control hardware, the application of advanced control did not yield notable gains as was hoped. Further investigations were made attempting to alter the performance of the control system, but the components selected did not have the physical capabilities for improved response above the original software implemented. Despite this disappointment, numerous novel advances were made in the area of teleoperated ophthalmic technology and pediatric physical rehabilitation tools. This includes a system that is used to remote control a slit-lamp and lens for examinations and some laser procedures. Secondly, a series of of humanoid systems suitable for both medical research and therapeutic modeling were developed. This included a robotic face used as an interactive system for ophthalmic testing and training. It can also be used as one component in an interactive humanoid robotic system that includes hands and arms to allow use of teaching sign language, social skills or modeling occupational therapy tasks. Finally, a humanoid system is presented that can serve as a customized surrogate between a therapist and client to model physical therapy tasks in a realistic manner. These systems are all functional, safe and low-cost to allow for feasible implementation with patients in the near future

Atlas in the Cloud

This report describes the research, system analysis, design methodology, and testing procedures that were used to create a Cloud-based robotics development kit. The goal of this project was to utilize Cloud computing resources in support of the Worcester Polytechnic Institute-Carnegie Mellon University DARPA Robotics Challenge team. The following report begins with background on the underlying technologies and the DARPA Robotics Challenge. The report includes a systems analysis and design methodology. User feedback informed subsequent revision of the original design. The report ends with implementation details, testing, and the results achieved by the system