Hybrid motion planning approach for robot dexterous hands

This paper presents a manipulation planning approach for robot hands that enables the generation of finger trajectories. The planner is based on a hybrid approach that combines discrete-continuous kinematics using a fully discrete transition system. One of the main contributions of this work consists in the representation of the universe of different submodel combinations, as states in a discrete transition system. The manipulated object geometry is taken into account and the system composed by the object and the hand is modeled as a set of closed kinematical chains. The methodology enables the synthesis of complex manipulation trajectories, when one or more fingers change the contact condition with the object. Contact condition changes include rolling contact, sliding contact, contact loss and contact establishment. Tests were carried out employing a three finger manipulation task in computer simulations and with an experimental setup

Órtese dinâmica integrando manufatura aditiva e robótica cooperativa/Dynamic orders integrating additive manufacture and cooperative robotics

A evolução da artrite reumatoide (AR) leva a perda da capacidade se estender ativamente os dedos. Nos casos avançados uma órtese mecânica passiva pode não ser satisfatória. Este trabalho apresenta a integração com um sistema motor aumentando o alcance da órtese na funcionalidade de indivíduo. Foi desenvolvido um projeto conceito de órtese assistida por servo motor que após otimizações avaliadas em bancada e com portador da deformidade apresentou resultados promissores quanto ao controle do motor e opinião positiva quanto ao uso da mão. Abstract The evolution of rheumatoid arthritis (RA) leads to loss of the ability to actively extend the fingers. In advanced cases the mechanical orthosis may not be satisfactory. This work presents the integration with a motor system increasing the reach of the orthosis in the individual functionality. It was developed a concept project of servo-assisted orthosis that after optimizations evaluated in the bench and with deformity bearer presented promising results regarding the motor control and positive opinion regarding the use of the hand.Keywords: Orthosis, 3D Printing, Rheumatoid Arthritis, Servo motor, Rehabilitation ResumenLa evolución de la artritis reumatoide (AR) lleva a la pérdida de la capacidad de extender activamente los dedos. En los casos avanzados la órtesis mecánica puede no ser satisfactoria. Este trabajo presenta la integración con un sistema motor aumentando el alcance de la órtesis en la funcionalidad de individuo. Se desarrolló un proyecto concepto de órtesis asistida por servo motor que después de optimizaciones evaluadas en bancada y con portador de la deformidad presentó resultados prometedores en cuanto al control del motor y opinión positiva en cuanto al uso de la mano.Palabras clave: Órtesis, Impresión 3D, Artritis reumatoide, Servo motor, Rehabilitación

Dynamic player modelling in serious games applied to rehabilitation robotics

This article proposes a reinforcement learning approach to dynamically model the player skills in applications that integrate games and rehabilitation robotic. The approach aims to match the game difficulty to the player skills, keeping proper motivation (flow) during a rehabilitation process. The traditional rehabilitation process involves repetitive exercises. Robots and serious games provide new means to improve user motivation and commitment during treatment. Each person shows different skills when facing the challenges posed by computer games. Thus, the game difficulty level should be adjusted to each player skill level. The Q-Learning algorithm was adapted in this context to modify game parameters and to assess user skills based on a performance function. This function provides a path to an individual difficulty adjustment and consequently a tool to keep the user exercising. Experiments with thirty minutes duration are presented, involving four players, and the results obtained indicate the proposed approach is feasible for modeling the user behaviour getting to capture the adaptations and trends for each player according to the game difficulties

Increasing Students’ Interest With Low-Cost CellBots

This paper introduces the use of a flexible and affordable\ud educational robot specifically developed for the practical experimentation\ud inherent to technological disciplines. The robot has\ud been designed to be reconfigurable and extendible, serving as an\ud experimental platform across several undergraduate courses. As\ud most students have a mobile cell phone, this was used as the main\ud control computer for the so-called CellBot, thus avoiding any need\ud to deal with the details of microcontrollers or other embedded computing\ud devices. Assessment results are also presented, based on a\ud pre- and post-survey of student opinion administered to 204 science\ud and engineering students from several universities. Among\ud the conclusions are that 83% of the students prefer to use these\ud low-cost robots as tools to improve their learning of the theory in\ud several disciplines, and 71% of the students stated that they prefer\ud to have their own robot to experiment with, instead of using a didactic\ud kit loaned to them by the universityCNP

A practical evaluation of smartphone application on mesh networks

This paper presents a mesh architecture proposal\ud called Mobile mEsh Network to Aid in CountEring\ud drug TRAffiCKing (M.E.N.A.C.E-TRACK). This project was\ud born from the hypothesis we could establish a covert network\ud channel independent of the cell phone companies infrastructures.\ud Therefore, law enforcement agencies could establish\ud connection with field personnel, in a fault tolerant fashion\ud allowing the transmission of multimedia data (instead of only\ud voice). The main contribution for this paper is the strategies\ud involved to configure smartphones on the MANET side of\ud this system. We present the main difficulties and one possible\ud solution to implement ad hoc mode on our testbed so we can\ud enable a MANET organization on M.E.N.A.C.E-TRACK.FAPEG (número edital 006/2012

Proposta de arquitetura para o uso de QR code na gestão da cadeia de suprimentos

Supply chain traceability and visibility are key concerns for many companies. Radio-Frequency Identification (RFID) is an enabling technology that allows identification of objects in a fully automated manner via radio waves. Nevertheless, this technology has limited acceptance and high costs. This paper presents a research effort undertaken to design a track and trace solution in supply chains, using quick response code (or QR Code for short) as a less complex and cost-effective alternative for RFID in supply chain management (SCM). A first architecture proposal using open source software will be presented as a proof of concept. The system architecture is presented in order to achieve tag generation, the image acquisition and pre-processing, product inventory and tracking. A prototype system for the tag identification is developed and discussed at the end of the paper to demonstrate its feasibility.Rastreabilidade e visibilidade na cadeia de suprimentos são preocupações centrais para muitas empresas. A Identificação por Radiofrequência (Radio-Frequency Identification – RFID) é uma tecnologia que permite a identificação de objetos de uma forma totalmente automatizada por meio de ondas de rádio. Todavia, esta tecnologia possui aceitação limitada e custos elevados. Este artigo apresenta os resultados de uma pesquisa que teve o objetivo de projetar uma solução de controle e rastreamento na cadeia de suprimentos, utilizando o código de resposta rápida (QR Code) como uma alternativa menos complexa e com boa relação custo-benefício para a etiqueta RFID no gerenciamento da cadeia de suprimentos. Uma primeira proposta de arquitetura, usando software de código aberto, é apresentada como uma prova de conceito. A arquitetura do sistema exposta tem a finalidade de propiciar a geração de etiquetas, a aquisição e pré-processamento de imagens, e inventário e rastreamento de produtos. Um sistema protótipo para a identificação de etiquetas foi desenvolvido e discutido ao final do artigo para demonstrar a viabilidade de uma possível implantação

Órtese dinâmica integrando manufatura aditiva e robótica cooperativa/Dynamic orders integrating additive manufacture and cooperative robotics

A evolução da artrite reumatoide (AR) leva a perda da capacidade se estender ativamente os dedos. Nos casos avançados uma órtese mecânica passiva pode não ser satisfatória. Este trabalho apresenta a integração com um sistema motor aumentando o alcance da órtese na funcionalidade de indivíduo. Foi desenvolvido um projeto conceito de órtese assistida por servo motor que após otimizações avaliadas em bancada e com portador da deformidade apresentou resultados promissores quanto ao controle do motor e opinião positiva quanto ao uso da mão. Abstract The evolution of rheumatoid arthritis (RA) leads to loss of the ability to actively extend the fingers. In advanced cases the mechanical orthosis may not be satisfactory. This work presents the integration with a motor system increasing the reach of the orthosis in the individual functionality. It was developed a concept project of servo-assisted orthosis that after optimizations evaluated in the bench and with deformity bearer presented promising results regarding the motor control and positive opinion regarding the use of the hand.Keywords: Orthosis, 3D Printing, Rheumatoid Arthritis, Servo motor, Rehabilitation ResumenLa evolución de la artritis reumatoide (AR) lleva a la pérdida de la capacidad de extender activamente los dedos. En los casos avanzados la órtesis mecánica puede no ser satisfactoria. Este trabajo presenta la integración con un sistema motor aumentando el alcance de la órtesis en la funcionalidad de individuo. Se desarrolló un proyecto concepto de órtesis asistida por servo motor que después de optimizaciones evaluadas en bancada y con portador de la deformidad presentó resultados prometedores en cuanto al control del motor y opinión positiva en cuanto al uso de la mano.Palabras clave: Órtesis, Impresión 3D, Artritis reumatoide, Servo motor, Rehabilitación.</p