Machine Systems for Exploration and Manipulation: A Conceptual Framework and Method of Evaluation

A conceptual approach to describing and evaluating problem-solving by robotic systems is offered. One particular problem of importance to the field of robotics, disassembly, is considered. A general description is provided of an effector system equipped with sensors that interacts with objects for purposes of disassembly and that learns as a result. The system\u27s approach is bottom up, in that it has no a priori knowledge about object categories. It does, however, have pre-existing methods and strategies for exploration and manipulation. The sensors assumed to be present are vision, proximity, tactile, position, force, and thermal. The system\u27s capabilities are described with respect to two phases: object exploration and manipulation. Exploration takes the form of executing exploratory procedures, algorithms for determining the substance, structure, and mechanical properties of objects. Manipulation involves manipulatory operators, defined by the type of motion, nature of the end-effector configuration, and precise parameterization. The relation of the hypothesized system to existing implementations is described, and a means of evaluating it is also proposed

Doctor of Philosophy

dissertationTactile sensors are a group of sensors that are widely being developed for transduction of touch, force and pressure in the field of robotics, contact sensing and gait analysis. These sensors are employed to measure and register interactions between contact surfaces and the surrounding environment. Since these sensors have gained usage in the field of robotics and gait analysis, there is a need for these sensors to be ultra flexible, highly reliable and capable of measuring pressure and two-axial shear simultaneously. The sensors that are currently available are not capable of achieving all the aforementioned qualities. The goal of this work is to design and develop such a flexible tactile sensor array based on a capacitive sensing scheme and we call it the flexible tactile imager (FTI). The developed design can be easily multiplexed into a high-density array of 676 multi-fingered capacitors that are capable of measuring pressure and two-axial shear simultaneously while maintaining sensor flexibility and reliability. The sensitivity of normal and shear stress for the FTI are 0.74/MPa and 79.5/GPa, respectively, and the resolvable displacement and velocity are as low as 60 µm and 100 µm/s, respectively. The developed FTI demonstrates the ability to detect pressure and shear contours of objects rolling on top of it and capability to measure microdisplacement and microvelocities that are desirable during gait analysis

Wearable Tactile Pressure Sensing for Compression Garments and Control of Active Compression Devices

Compression garments on the lower limbs have been used for the treatment of venous deficiencies for centuries. More recently, healthy athletes have used similar garments for an edge in performance and improved recovery times. The basis for their use is the increase of blood circulation that helps oxygenate muscles. Active compression devices that apply intermittent compression are less prevalent but have the potential to generate a greater impact on blood circulation. A new study into the effects of active compression required the development of an active compression system that would apply intermittent compression in a reliable manner. In the present thesis, a control system to facilitate active compression and generate a positive impact on blood circulation is pursued. This development involved setting up the timing of the compression and implementing a controller that regulates the compression pressure. A new capacitive sensor for pressure feedback to the controller is also evaluated. In the resulting active compression system that was built, an electrocardiogram (ECG) and heel switch are used to determine the timing of the compression. The ECG synchronizes the compression with the heartbeat, while the heel switch prevents compression from being applied when the calf muscles are contracted because the compression would not have an effect in that scenario. When the timing criteria is met, sequential compression up the calf is applied with five inflatable cuffs to push the blood up the leg and towards the heart. The pressure is sensed during each compression and used in an iterative learning controller that regulates the amount of compression applied