6,974 research outputs found
Lightweight High-Speed and High-Force Gripper for Assembly
This paper presents a novel industrial robotic gripper with a high grasping
speed (maximum: 1396 mm/s), high tip force (maximum: 80 N) for grasping, large
motion range, and lightweight design (0.3 kg). To realize these features, the
high-speed section of the quick-return mechanism and load-sensitive
continuously variable transmission mechanism are installed in the gripper. The
gripper is also equipped with a self-centering function. The high grasping
speed and self-centering function improve the cycle time in robotic operations.
In addition, the high tip force is advantageous for stably grasping and
assembling heavy objects. Moreover, the design of the gripper reduce the
gripper's proportion of the manipulator's payload, thus increasing the weight
of the object that can be grasped. The gripper performance was validated
through kinematic and static analyses as well as experimental evaluations. This
paper also presents the analysis of the self-centering function of the
developed gripper
Sensors for Robotic Hands: A Survey of State of the Art
Recent decades have seen significant progress in the field of artificial hands. Most of the
surveys, which try to capture the latest developments in this field, focused on actuation and control systems of these devices. In this paper, our goal is to provide a comprehensive survey of the sensors for artificial hands. In order to present the evolution of the field, we cover five year periods starting at the turn of the millennium. At each period, we present the robot hands with a focus on their sensor systems dividing them into categories, such as prosthetics, research devices, and industrial end-effectors.We also cover the sensors developed for robot hand usage in each era. Finally, the period between 2010 and 2015 introduces the reader to the state of the art and also hints to the future directions in the sensor development for artificial hands
Hybrid Open-Loop Closed-Loop Control of Coupled Human-Robot Balance During Assisted Stance Transition with Extra Robotic Legs
A new approach to the human-robot shared control of the Extra Robotic Legs
(XRL) wearable augmentation system is presented. The XRL system consists of two
extra legs that bear the entirety of its backpack payload, as well as some of
the human operator's weight. The XRL System must support its own balance and
assist the operator stably while allowing them to move in selected directions.
In some directions of the task space the XRL must constrain the human motion
with position feedback for balance, while in other directions the XRL must have
no position feedback, so that the human can move freely. Here, we present
Hybrid Open-Loop / Closed-Loop Control Architecture for mixing the two control
modes in a systematic manner. The system is reduced to individual joint
feedback control that is simple to implement and reliable against failure. The
method is applied to the XRL system that assists a human in conducting a
nuclear waste decommissioning task. A prototype XRL system has been developed
and demonstrated with a simulated human performing the transition from standing
to crawling and back again while coupled to the prototype XRL system
From flapping wings to underactuated fingers and beyond: a broad look to self-adaptive mechanisms
In this paper, the author first reviews the different terminologies used in underactuated grasping and illustrates the current increase of activity on this topic. Then, the (probably) oldest known self-adaptive mechanism is presented and its performance as an underactuated finger is discussed. Its original application, namely a flapping wing, is also shown. Finally, it is proposed that the mechanisms currently used in underactuated grasping have actually other applications similarly to the previously discussed architecture could be used for both an underactuated finger and a flapping wing
Ground Robotic Hand Applications for the Space Program study (GRASP)
This document reports on a NASA-STDP effort to address research interests of the NASA Kennedy Space Center (KSC) through a study entitled, Ground Robotic-Hand Applications for the Space Program (GRASP). The primary objective of the GRASP study was to identify beneficial applications of specialized end-effectors and robotic hand devices for automating any ground operations which are performed at the Kennedy Space Center. Thus, operations for expendable vehicles, the Space Shuttle and its components, and all payloads were included in the study. Typical benefits of automating operations, or augmenting human operators performing physical tasks, include: reduced costs; enhanced safety and reliability; and reduced processing turnaround time
非線形弾性要素による内部力補償に基づく無段階変位–力変換機構の創生 ― 微小操作力で強大な磁気力・把持力・制動力・張力を制御可能とするロボット要素 ―
Tohoku University博士(情報科学)thesi
End-to-end congestion control protocols for remote programming of robots, using heterogeneous networks: A comparative analysis
There are many interesting aspects of Internet Telerobotics within the network robotics context, such as variable bandwidth and time-delays. Some of these aspects have been treated in the literature from the control point of view. Moreover, only a little work is related to the way Internet protocols can help to minimize the effect of delay and bandwidth fluctuation on network robotics. In this paper, we present the capabilities of TCP, UDP, TCP Las Vegas, TEAR, and Trinomial protocols, when performing a remote experiment within a network robotics application, the UJI Industrial Telelaboratory. Comparative analysis is presented through simulations within the NS2 platform. Results show how these protocols perform in two significant situations within the network robotics context, using heterogeneous wired networks: (1) an asymmetric network when controlling the system through a ADSL connection, and (2) a symmetric network using the system on Campus. Conclusions show a set of characteristics the authors of this paper consider very important when designing an End-to-End Congestion Control transport protocol for Internet Telerobotics
Aerospace Medicine and Biology: A continuing supplement 180, May 1978
This special bibliography lists 201 reports, articles, and other documents introduced into the NASA scientific and technical information system in April 1978
On the development of a cybernetic prosthetic hand
The human hand is the end organ of the upper limb, which in humans serves the important
function of prehension, as well as being an important organ for sensation and communication.
It is a marvellous example of how a complex mechanism can be implemented,
capable of realizing very complex and useful tasks using a very effective combination of
mechanisms, sensing, actuation and control functions.
In this thesis, the road towards the realization of a cybernetic hand has been presented.
After a detailed analysis of the model, the human hand, a deep review of the state of the
art of artificial hands has been carried out. In particular, the performance of prosthetic
hands used in clinical practice has been compared with the research prototypes, both for
prosthetic and for robotic applications. By following a biomechatronic approach, i.e. by
comparing the characteristics of these hands with the natural model, the human hand, the
limitations of current artificial devices will be put in evidence, thus outlining the design
goals for a new cybernetic device.
Three hand prototypes with a high number of degrees of freedom have been realized and
tested: the first one uses microactuators embedded inside the structure of the fingers, and
the second and third prototypes exploit the concept of microactuation in order to increase
the dexterity of the hand while maintaining the simplicity for the control. In particular, a
framework for the definition and realization of the closed-loop electromyographic control of
these devices has been presented and implemented.
The results were quite promising, putting in evidence that, in the future, there could
be two different approaches for the realization of artificial devices. On one side there
could be the EMG-controlled hands, with compliant fingers but only one active degree of
freedom. On the other side, more performing artificial hands could be directly interfaced
with the peripheral nervous system, thus establishing a bi-directional communication with
the human brain
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