Design and Validation of a Portable Wireless Data Acquisition System for Measuring Human Joint Angles in Medical Applications

A prototype sensor system to capture and measure human joint movements in medical applications was developed. An algorithm that uses measurements from two IMU sensors to estimate the angle of one human joint was developed. Custom-made hardware and software were developed. Validation results showed 0.67° maximum error in static condition, 1.56° maximum RMSE for dynamic measurements and 2.5° average error during fast movements’ tests. The prototype has been successfully used by medical teams

A novel spherical permanent magnet actuator with three degrees-of-freedom

The paper describes a new version of spherical actuator, which is capable of three degrees-of-freedom and a high specific torque. The three-dimensional magnetic field distribution is established using an analytical technique formulated in spherical co-ordinates, and enables the torque vector and back-emf to be derived in closed forms. This facilitates the characterisation of the actuator, and provides the foundation for design optimisation, actuator dynamic modelling and servo control developmen

Research and Development of Spherical Motor

In this paper, the history of spherical motor development is reviewed. The history shows that there are a lot of application areas for the spherical motor and the spherical motor technology reaches the practical development stage now. Then, recent research results of our group are reported. Our project has two goals. One is to establish an academic framework of the spherical motor theory by extending the design theory of the conventional motor. Another one is to develop practical spherical motors. The future of the spherical motor is also discussed

3D magnetic analysis of permanent magnets in spherical configuration

The present study aims to increase the amount of surface flux by changing the magnetic directions of a spherical magnet (NdFeB) consisting of four poles. For this purpose, the magnetic directions of quartile spherical slices constituting the spherical magnet are manipulated and their three-dimensional analyses are carried out by using finite-element method via Maxwell environment. The analysis of the magnetic quartile spheres with four different magnetic directions are compared to the each other, and then the quartile sphere with the best surface flux distribution is suggested for rotor structure. It is clear emphasized that the induced torque of the spherical motor, in which such a rotor is used, will be improved as well. © The Korean Institute of Electrical Engineers

Fruit detection system and an end effector for robotic harvesting of Fuji apples

 The challenges in developing a fruit harvesting robot are recognizing the fruit in the foliage and detaching the fruit from the tree without damaging either the fruit or the tree.  The objectives of this study were to develop a real-time fruit detection system using machine vision and a laser ranging sensor and to develop an end effector capable of detaching the fruit in a way similar to manual pick.  The Fuji apple variety was used in this study. In the detection of the fruit, machine vision was combined with a laser ranging sensor.  The machine vision recognized the fruit and the laser ranging sensor determined the distance.  The system detected a single fruit with 100% accuracy in both front and back lighted scenes with ±3 mm accuracy in distance measurement.  To detach the fruit from the tree, an end effector was developed with a peduncle holder and a wrist; the peduncle holder pinches the peduncle of the fruit and the wrist rotates the peduncle holder to detach the fruit.  Field test results of the end effector showed more than 90% success rate in detaching the fruit with average time use of 7.1 seconds.Keywords: apple, end effector, image processing, machine vision, robotic harvesting, Japan Citation: Bulanon D. M., and T. Kataoka.  Fruit detection system and an end effector for robotic harvesting of Fuji apples.  Agric Eng Int: CIGR Journal, 2010, 12(1): 203-210.&nbsp

Exploring the Design of a Simultaneous, Parallel, Discrete Joint Control Orthosis for Hand Rehabilitation

This project explores the design of a hand orthosis for rehabilitation which builds upon several pre-existing designs to create a novel mechanism which can provide targeted therapy to one or more discrete joints simultaneously across the lower forearm. This work expands upon and improves the capabilities of hand orthoses to move beyond common design limitations such as controlling only entire fingers or immobilizing crucial regions such as the wrist