A study on transparency of a passive manipulation mechanism : application to Neoditech Scara Parts

International audienceIn the field of 5 to 100 kg load transportation in workshops, many systems having more or less complex ar-chitectures have been developed to reduce musculo-skeletal disorders (hoists, pliers, dedicated systems). These systems offer different behaviors and human interaction is far from being the same for all of them. In recent years, the literature produced a lot of work around design thinking, user-centered approaches emphasizing notions around perception, cognition, and ergonomics to meet the needs of the end user. The development of cobotics and more generally systems allowing the interaction or co-manipulation of objects highlights the notion of transparency of the system. This transparency is expressed as the fact of feeling only a part of the physical magnitudes of the object most relevant to the user in his manipulation. In the context of this article, we study the transparency of a kinematically redundant passive mechanism based on a scara one (revolute joints parallel between them) when manipulating heavy objects on a plane. This article is based on a state of the art of different criteria in order to evaluate the behavior of a robot such as manipulability or dexterity. We will indicate the relevance of these criteria that we apply to a theoretical study. These theoretical aspects will then be evaluated on Neoditech Scara Parts arm. It is a mechanism capable of handling up to 50kg composed of a plane arm mounted on vertical linear axis itself mounted on a fixed or mobile base. This plane arm consists of 6 revolute joints having parallel axes ensuring redundancy in the architecture of the robot

A Social Identity Approach to Sport Psychology: Principles, Practice, and Prospects.

Drawing on social identity theory and self-categorization theory, we outline an approach to sport psychology that understands groups not simply as features of sporting contexts but rather as elements that can be, and often are, incorporated into a person's sense of self and, through this, become powerful determinants of their sport-related behavior. The underpinnings of this social identity approach are outlined, and four key lessons for sport that are indicative of the analytical and practical power of the approach are presented. These suggest that social identity is the basis for sports group (1) behavior, (2) formation and development, (3) support and stress appraisal, and (4) leadership. Building on recent developments within sport science, we outline an agenda for future research by identifying a range of topics to which the social identity approach could fruitfully contribute

A study on transparency of a passive manipulation mechanism : application to Neoditech Scara Parts

International audienceIn the field of 5 to 100 kg load transportation in workshops, many systems having more or less complex ar-chitectures have been developed to reduce musculo-skeletal disorders (hoists, pliers, dedicated systems). These systems offer different behaviors and human interaction is far from being the same for all of them. In recent years, the literature produced a lot of work around design thinking, user-centered approaches emphasizing notions around perception, cognition, and ergonomics to meet the needs of the end user. The development of cobotics and more generally systems allowing the interaction or co-manipulation of objects highlights the notion of transparency of the system. This transparency is expressed as the fact of feeling only a part of the physical magnitudes of the object most relevant to the user in his manipulation. In the context of this article, we study the transparency of a kinematically redundant passive mechanism based on a scara one (revolute joints parallel between them) when manipulating heavy objects on a plane. This article is based on a state of the art of different criteria in order to evaluate the behavior of a robot such as manipulability or dexterity. We will indicate the relevance of these criteria that we apply to a theoretical study. These theoretical aspects will then be evaluated on Neoditech Scara Parts arm. It is a mechanism capable of handling up to 50kg composed of a plane arm mounted on vertical linear axis itself mounted on a fixed or mobile base. This plane arm consists of 6 revolute joints having parallel axes ensuring redundancy in the architecture of the robot