Design and development of the sEMG-based exoskeleton strength enhancer for the legs

This paper reviews the different exoskeleton designs and presents a working prototype of a surface electromyography (EMG) controlled exoskeleton to enhance the strength of the lower leg. The Computer Aided Design (CAD) model of the exoskeleton is designed,3D printed with respect to the golden ratio of human anthropometry, and tested structurally. The exoskeleton control system is designed on the LabVIEW National Instrument platform and embedded in myRIO. Surface EMG sensors (sEMG) and flex sensors are usedcoherently to create different state filters for the EMG, human body posture and control for the mechanical exoskeleton actuation. The myRIO is used to process sEMG signals and send control signals to the exoskeleton. Thus,the complete exoskeleton system consists of sEMG as primary sensor and flex sensor as a secondary sensor while the whole control system is designed in LabVIEW. FEA simulation and tests show that the exoskeleton is suitable for an average human weight of 62 kg plus excess force with different reactive spring forces. However, due to the mechanical properties of the exoskeleton actuator, it will require an additional liftto provide the rapid reactive impulse force needed to increase biomechanical movement such as squatting up. Finally, with the increasing availability of such assistive devices on the market, the important aspect of ethical, social and legal issues have also emerged and discussed in this paper

What makes a social robot good at interacting with humans?

This paper discusses the nuances of a social robot, how and why social robots are becoming increasingly significant, and what they are currently being used for. This paper also reflects on the current design of social robots as a means of interaction with humans and also reports potential solutions about several important questions around the futuristic design of these robots. The specific questions explored in this paper are: “Do social robots need to look like living creatures that already exist in the world for humans to interact well with them?”; “Do social robots need to have animated faces for humans to interact well with them?”; “Do social robots need to have the ability to speak a coherent human language for humans to interact well with them?” and “Do social robots need to have the capability to make physical gestures for humans to interact well with them?”. This paper reviews both verbal as well as nonverbal social and conversational cues that could be incorporated into the design of social robots, and also briefly discusses the emotional bonds that may be built between humans and robots. Facets surrounding acceptance of social robots by humans and also ethical/moral concerns have also been discussed

ROS based autonomous control of a humanoid robot

International audienceThis paper presents an artificial neural network-based control architecture allowing autonomous mobile robot indoor navigation by emulating the cognition process of a human brain when navigating in an unknown environment. The proposed architecture is based on a simultaneous top-down and bottom up approach, which combines the a priori knowledge of the environment gathered from a previously examined floor plan with the visual information acquired in real time. Thus, in order to take the right decision during navigation, the robot is able to process both set of information, compare them in real time and react accordingly. The architecture is composed of two modules: a) A deliberative module, corresponding to the processing chain in charge of extracting a sequence of navigation signs expected to be found in the environment, generating an optimal path plan to reach the goal,computing and memorizing the sequence of signs [1]. The path planning stage allowing the computation of the sign sequence is based on a neural implementation of the resistive grid. b) A reactive module, integrating the said sequence information in order to use it to control online navigation and learning sensory-motor associations. It follows a perception-action mechanism that constantly evolves because of the dynamic interaction between the robot and its environment. It is composed of three layers: one layer using a cognitive mechanism and the other two using a reflex mechanism. Experimental results obtained from the physical implementation of the architecture in an indoor environment show the feasibility of this approach

Using robot operating system (ROS) and single board computer to control bioloid robot motion

This paper presents a research study on the adaptation of a novel technique for placing a programmable component over the structural component of a Robotis Bioloid humanoid robot. Assimilating intelligence plays an important role in the field of robotics that enables a computer to model or replicate some of the intelligent behaviors of human beings but with minimal human intervention. As a part of this effort, this paper revises the Bioloid robot structure so as to be able to control the robotic movement via a single board computer Beaglebone Black (BBB) and Robot operating system (ROS). ROS as the development frame work in conjunction with the main BBB controller that integrates robotic functions is an important aspect of this research, and is a first of its kind approach. A full ROS computation has been developed by which an API that will be usable by high level software using ROS services has also been developed. The human like body structure of the Bioloid robot and BeagleBone Black running ROS along with the intellectual components are used to make the robot walk efficiently

Robot Operating System (ROS) Controlled Anthropomorphic Robot Hand

This paper presents a new design of a dexterous robot hand by incorporating human hand factors. The robotic hand is a Robot Operating System (ROS) controlled standalone unit that can perform key tasks and work independently. Hardware such as actuators, electronics, sensors, pulleys etc. are embedded within or on the hand itself. Raspberry Pi, a single board computer which runs ROS and is used to control the hand movements as well as process the sensor signals is placed outside of the hand. It supports peripheral devices such as screen display, keyboard and mouse. The hand prototype is designed in Solid Works and 3D printed/built using aluminum sheet. The prototype is similar to the human hand in terms of shape and possesses key functionalities and abilities of the human hand, especially to imitate key movements of the human hand and be as dexterous as possible whilst keeping a low cost. Other important factors considered while prototyping the model were that the hand should be reliable, have a durable const­­ruction, and should be built using widely available off-the-shelf components and an open-source software. Though the prototype hand only has 6 degrees-of-freedom (DOF) compared to the 22 DOF of the human hand, it is able to perform most grasps effectively. The proposed model will allow other researchers to build similar robotic hands and perform specialized research

Management of Anterior Open Bite and Skeletal Class II Hyperdivergent Patient with Clear Aligner Therapy

In orthodontics, patients with hyperdivergent facial types or problems in the vertical dimension are often challenging to treat with predictable treatment results. Conventionally along with fixed appliances, a headgear, posterior bite block, extraction, temporary anchorage devices, or orthognathic surgery are preferable approaches to treat such patients. This case report illustrates a non-extraction, non-surgical orthodontic treatment of 5 mm anterior open bite in a non-growing adult patient, utilizing clear aligner therapy