Design and Testing of Two Haptic Devices Based on Reconfigurable 2R Joints

per presents the design and testing of two haptic devices, based on reconfigurable 2R joints: an active 2R spherical mechanism-based joint and a differential gear-based joint. Based on our previous works, in which the design and kinematic analysis of both reconfigurable joints were developed, the experimental setup and the various tasks intended to test the reconfigurability, precision, force feedback system and general performance, are presented herein. Two control modes for the haptic device operation are proposed and studied. The statistical analysis tools and their selection principles are described. The mechanical design of two experimental setups and the main elements are considered in detail. The Robot Operating System nodes and the topics that are used in the software component of the experimental setup are presented and explained. The experimental testing was carried out with a number of participants and the corresponding results were analyzed with the selected statistical tools. A detailed interpretation and discussion on of the results is provided.The authors wish to acknowledge the financial support received from the Spanish Government through the Ministerio de Ciencia e Innovación (Project PID2020-116176GB-I00) financed by MCIN/AEI/10.13039/501100011033, and the support for the research group through Project IT949-16 provided by the Departamento de Educación, Política Lingüística y Cultura from the regional Basque Government

Design of an active reconfigurable 2R joint

Ponencia presentada en 15th IFToMM World Congress on Mechanism and Machine ScienceThe increasing flexibility requirements in the manufacturing processes has led to the development of novel reconfigurable mechanisms to be implemented in ma-chine heads and tables. This is the case of the reconfigurable parallel manipulators which are also used in a wide variety of applications. These mechanisms include often in their kinematic chains active or reconfigurable joints. In this paper, a 2R active reconfigurable joint is presented. As well as carrying out the kinematic characterization of the joint, a demonstrative prototype has been also built.The authors wish to acknowledge the financial support received from the Spanish Government through the Ministerio de Economía y Competitividad (Project DPI2015-67626-P (MINECO/FEDER, UE)) and the financial support given to the research group through the pro-ject with Ref. IT949-16, given by the Departamento de Educación, Política Lingüística y Cultura of the Regional Government of the Basque Country

Design and experimental characterization of l-CADEL v2, an assistive device for elbow motion

An experimental characterization is presented for an improved version of a wearable assistive device for elbow motion. The design is revised with respect to requirements for elbow motion assistance, looking at applications both in rehabilitation therapies and exercising of elderly people. A laboratory prototype is built with lightweight, portable, easy-to-use features that are verified with test results, whose discussion is also provided as a characterization of operating performance

Design, characterization and experimental testing of two novel reconfigurable joints

272 p.This Thesis focuses on the conception and design of joints to be used in reconfigurable parallel manipulators. A set of different joint designs was proposed and subjected to characteristics analysis in order to select the ones that provide better qualities. From the comparison among the various designs, it has been shown that two of them present such potential benefits as big workspace area, high load capacity and accuracy, small inertia forces, simplicity of manufacturing, and small dimensions. Therefore, these two joints were selected for further study, performing an in-depth analysis of their application as reconfigurable joints. Their kinematics and structural analysis have been carried out.The joints¿ reconfiguration ability and performance were tested by application of the joint prototypes in haptic device that controlled a 2-RFR planar ultraflexible parallel manipulator. The haptic device was equipped with a force feedback system that was intended to help indicating the singular areas of the workspace in which the control of the manipulator can be lost. Both joint designs were tested by a group of operators that was asked to perform several testing tasks. The results of the test demonstrate that the proposed joint designs are suitable for implementing them as haptic device and presenting the ability of joint reconfiguration. They provide reliable operation and control simplicity. After thorough analysis of the experimental results, the most beneficial joint design and the most appropriate control mode for it were determined. After adapting this design to conventional manufacturing technologies, the joint could be tested in a commercially available manipulator

Design and Testing of Two Haptic Devices Based on Reconfigurable 2R Joints

This paper presents the design and testing of two haptic devices, based on reconfigurable 2R joints: an active 2R spherical mechanism-based joint and a differential gear-based joint. Based on our previous works, in which the design and kinematic analysis of both reconfigurable joints were developed, the experimental setup and the various tasks intended to test the reconfigurability, precision, force feedback system and general performance, are presented herein. Two control modes for the haptic device operation are proposed and studied. The statistical analysis tools and their selection principles are described. The mechanical design of two experimental setups and the main elements are considered in detail. The Robot Operating System nodes and the topics that are used in the software component of the experimental setup are presented and explained. The experimental testing was carried out with a number of participants and the corresponding results were analyzed with the selected statistical tools. A detailed interpretation and discussion on of the results is provided