Design and experimental validation of planar programmable inertia generators

This paper investigates the design and experimental development of planar programmable inertia generators. An inertia generator is a hand-held haptic device that has a programmable inertia. By moving internal masses in reaction to accelerations induced by the user, the effective inertia of the device is modified in order to render a prescribed inertia. In this paper, a one-degree-of-freedom device with one internal moving mass is first proposed. The corresponding dynamic model is developed and the rendering capabilities of the device are investigated. Then, a controller is designed to produce the appropriate motion of the internal mass in reaction to the acceleration induced by the user. A prototype is presented and experimental results are discussed. A mechanical architecture is then proposed for the design of a planar three-degree-of-freedom inertia generator. The corresponding dynamic model is derived, and it is shown that the generalized inertia matrix of the proposed mechanism is always of full rank. The rendering capabilities of the device are also investigated. Finally, simulation results obtained with the three-degree-of-freedom inertia generator are reported and discussed

A cable-suspended intelligent crane assist device for the intuitive manipulation of large payloads

This paper presents a cable-suspended crane system to assist operators in moving and lifting large payloads. The main objective of this work is to develop a simple and reliable system to help operators in industry to be more productive while preventing injuries. The system is based on the development of a precise and reliable cable angle sensor and a complete dynamic model of the system. Adaptive horizontal and vertical controllers designed for direct physical human-robot interaction are then proposed. Different techniques are then proposed to estimate the payload acceleration in order to increase the controller performances. Finally, experiments performed on a full-scale industrial system are presented

An articulated assistive robot for intuitive hands-on-payload manipulation

This paper presents an intelligent assistive robot designed to help operators in lifting and moving large payloads through direct physical contact (hands-on-payload mode). The mechanical design of the robot is first presented. Although its kinematics are similar to that of a cable-suspended system, the proposed mechanism is based on articulated linkages, thereby allowing the payload to be offset from the rail support on which it is suspended. A dynamic model of the robot is then developed. It is shown that a simplified dynamic model can be obtained using geometric assumptions. Based on the simplified dynamic model, a controller is then presented that handles the physical human-robot interaction and that provides the operator with an intuitive direct control of the payload. Experimental validation on a full-scale prototype is presented in order to demonstrate the effectiveness of the proposed robot and controller

Secretion of functional papain precursor from insect cells. Requirement for N-glycosylation of the pro-region.

The synthetic gene coding for the precursor of the cysteine protease papain (EC 3.4.22.2) has been expressed using the baculovirus/insect cell system. The prepropapain gene was cloned into the transfer vector IpDC125 behind the polyhedrin promoter. The recombinant construct was then incorporated by homologous recombination into the Autographa californiaca nuclear polyhedrosis virus genome. The host Spodoptera frugiperda Sf9 cells infected with the recombinant baculovirus secrete an enzymatically inactive N-glycosylated papain precursor. This zymogen could be activated in vitro to yield about 400 nmol of active papain per liter of culture. The recombinant active mature papain was enzymatically indistinguishable from natural papain but the precursor was not processed to the same amino acid residue. The insect cells also accumulated prepropapain and glycosylated propapain intracellularly. This accumulation was an indication that there are rate-limiting steps in the secretion of proteins from insect cells in this expression system. Characterization of mutants of the precursor has shown that entry into the secretory pathway and addition of carbohydrate are prerequisite conditions for the production and secretion of functional propapain

Bidirectional Haptic Communication: Application to the Teaching and Improvement of Handwriting Capabilities

The objective of this work is to study the relevance of haptic feedback in remote communication between people. The application is handwriting. A haptic device designed to help people to improve their writing skills is presented. Two experimental sessions are then proposed to a group of people. In the first test, two subjects communicate through a bilateral system by means of a haptic feedback to accomplish the task. Secondly, a blank test is performed. The results of the two tests are compared and analyzed in order to evaluate the importance of the haptic feedback in the context of collaboration between two people