1,166 research outputs found

    Sensors for Robotic Hands: A Survey of State of the Art

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    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

    Performance of modified jatropha oil in combination with hexagonal boron nitride particles as a bio-based lubricant for green machining

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    This study evaluates the machining performance of newly developed modified jatropha oils (MJO1, MJO3 and MJO5), both with and without hexagonal boron nitride (hBN) particles (ranging between 0.05 and 0.5 wt%) during turning of AISI 1045 using minimum quantity lubrication (MQL). The experimental results indicated that, viscosity improved with the increase in MJOs molar ratio and hBN concentration. Excellent tribological behaviours is found to correlated with a better machining performance were achieved by MJO5a with 0.05 wt%. The MJO5a sample showed the lowest values of cutting force, cutting temperature and surface roughness, with a prolonged tool life and less tool wear, qualifying itself to be a potential alternative to the synthetic ester, with regard to the environmental concern

    Motion for cooperation and vitality in Human-robot interaction

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    In social interactions, human movement is a rich source of information for all those who take part in the collaboration. In fact, a variety of intuitive messages are communicated through motion and continuously inform the partners about the future unfolding of the actions. A similar exchange of implicit information could support movement coordination in the context of Human-Robot Interaction. Also the style of an action, i.e. the way it is performed, has a strong influence on interaction between humans. The same gesture has different consequences when it is performed aggressively or kindly, and humans are very sensitive to these subtle differences in others\u2019 behaviors. During the three years of my PhD, I focused on these two aspects of human motion. In a firs study, we investigated how implicit signaling in an interaction with a humanoid robot can lead to emergent coordination in the form of automatic speed adaptation. In particular, we assessed whether different cultures \u2013 specifically Japanese and Italian \u2013 have a different impact on motor resonance and synchronization in HRI. Japanese people show a higher general acceptance toward robots when compared with Western cultures. Since acceptance, or better affiliation, is tightly connected to imitation and mimicry, we hypothesized a higher degree of speed imitation for Japanese participants when compared to Italians. In the experimental studies undertaken both in Japan and Italy,we observed that cultural differences do not impact on the natural predisposition of subjects to adapt to the robot. In a second study, we investigated how to endow a humanoid robot with behaviors expressing different vitality forms, by modulating robot action kinematics and voice. Drawing inspiration from humans, we modified actions and voice commands performed by the robot to convey an aggressive or kind attitude. In a series of experiments we demonstrated that the humanoid was consistently perceived as aggressive or kind. Human behavior changed in response to the different robot attitudes and matched the behavior of iCub, in fact participants were faster when the robot was aggressive and slower when the robot was gentle. The opportunity of humanoid behavior to express vitality enriches the array of nonverbal communication that can be exploited by robots to foster seamless interaction. Such behavior might be crucial in emergency and in authoritative situations in which the robot should instinctively be perceived as assertive and in charge, as in case of police robots or teachers

    On the Matter of Robot Minds

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    The view that phenomenally conscious robots are on the horizon often rests on a certain philosophical view about consciousness, one we call “nomological behaviorism.” The view entails that, as a matter of nomological necessity, if a robot had exactly the same patterns of dispositions to peripheral behavior as a phenomenally conscious being, then the robot would be phenomenally conscious; indeed it would have all and only the states of phenomenal consciousness that the phenomenally conscious being in question has. We experimentally investigate whether the folk think that certain (hypothetical) robots made of silicon and steel would have the same conscious states as certain familiar biological beings with the same patterns of dispositions to peripheral behavior as the robots. Our findings provide evidence that the folk largely reject the view that silicon-based robots would have the sensations that they, the folk, attribute to the biological beings in question

    EEG theta and Mu oscillations during perception of human and robot actions.

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    The perception of others' actions supports important skills such as communication, intention understanding, and empathy. Are mechanisms of action processing in the human brain specifically tuned to process biological agents? Humanoid robots can perform recognizable actions, but can look and move differently from humans, and as such, can be used in experiments to address such questions. Here, we recorded EEG as participants viewed actions performed by three agents. In the Human condition, the agent had biological appearance and motion. The other two conditions featured a state-of-the-art robot in two different appearances: Android, which had biological appearance but mechanical motion, and Robot, which had mechanical appearance and motion. We explored whether sensorimotor mu (8-13 Hz) and frontal theta (4-8 Hz) activity exhibited selectivity for biological entities, in particular for whether the visual appearance and/or the motion of the observed agent was biological. Sensorimotor mu suppression has been linked to the motor simulation aspect of action processing (and the human mirror neuron system, MNS), and frontal theta to semantic and memory-related aspects. For all three agents, action observation induced significant attenuation in the power of mu oscillations, with no difference between agents. Thus, mu suppression, considered an index of MNS activity, does not appear to be selective for biological agents. Observation of the Robot resulted in greater frontal theta activity compared to the Android and the Human, whereas the latter two did not differ from each other. Frontal theta thus appears to be sensitive to visual appearance, suggesting agents that are not sufficiently biological in appearance may result in greater memory processing demands for the observer. Studies combining robotics and neuroscience such as this one can allow us to explore neural basis of action processing on the one hand, and inform the design of social robots on the other

    Mechanical engineering challenges in humanoid robotics

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    Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.Cataloged from PDF version of thesis.Includes bibliographical references (p. 36-39).Humanoid robots are artificial constructs designed to emulate the human body in form and function. They are a unique class of robots whose anthropomorphic nature renders them particularly well-suited to interact with humans in a world designed for humans. The present work examines a subset of the plethora of engineering challenges that face modem developers of humanoid robots, with a focus on challenges that fall within the domain of mechanical engineering. The challenge of emulating human bipedal locomotion on a robotic platform is reviewed in the context of the evolutionary origins of human bipedalism and the biomechanics of walking and running. Precise joint angle control bipedal robots and passive-dynamic walkers, the two most prominent classes of modem bipedal robots, are found to have their own strengths and shortcomings. An integration of the strengths from both classes is likely to characterize the next generation of humanoid robots. The challenge of replicating human arm and hand dexterity with a robotic system is reviewed in the context of the evolutionary origins and kinematic structure of human forelimbs. Form-focused design and function-focused design, two distinct approaches to the design of modem robotic arms and hands, are found to have their own strengths and shortcomings. An integration of the strengths from both approaches is likely to characterize the next generation of humanoid robots.by Peter Guang Yi Lu.S.B
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