A two-phase gripper to reorient and grasp

This paper introduces the design of novel two-phase fingers to passively reorient objects while picking them up. Two-phase refers to a change in the finger-object contact geometry, from a free spinning point contact to a firm multipoint contact, as the gripping force increases. We exploit the two phases to passively reorient prismatic objects from a horizontal resting pose to an upright secure grasp. This problem is particularly relevant to industrial assembly applications where parts often are presented lying on trays or conveyor belts and need to be assembled vertically. Each two-phase finger is composed of a small hard contact point attached to an elastic strip mounted over a V-groove cavity. When grasped between two parallel fingers with low gripping force, the object pivots about the axis between the contact points on the strips, and aligns upright with gravity. A subsequent increase in the gripping force makes the elastic strips recede into the cavities letting the part seat in the V-grooves to secure the grasp. The design is compatible with any type of parallel-jaw gripper, and can be reconfigured to specific objects by changing the geometry of the cavity. The two-phase gripper provides robots with the capability to accurately position and manipulate parts, reducing the need for dedicated part feeders or time-demanding regrasp procedures.National Science Foundation (U.S.). National Robotics Initiative (NSF-IIS-1427050

Extrinsic Dexterity: In-Hand Manipulation with External Forces

Abstract — “In-hand manipulation ” is the ability to reposition an object in the hand, for example when adjusting the grasp of a hammer before hammering a nail. The common approach to in-hand manipulation with robotic hands, known as dexterous manipulation [1], is to hold an object within the fingertips of the hand and wiggle the fingers, or walk them along the object’s surface. Dexterous manipulation, however, is just one of the many techniques available to the robot. The robot can also roll the object in the hand by using gravity, or adjust the object’s pose by pressing it against a surface, or if fast enough, it can even toss the object in the air and catch it in a different pose. All these techniques have one thing in common: they rely on resources extrinsic to the hand, either gravity, external contacts or dynamic arm motions. We refer to them as “extrinsic dexterity”. In this paper we study extrinsic dexterity in the context of regrasp operations, for example when switching from a power to a precision grasp, and we demonstrate that even simple grippers are capable of ample in-hand manipulation. We develop twelve regrasp actions, all open-loop and handscripted, and evaluate their effectiveness with over 1200 trials of regrasps and sequences of regrasps, for three different objects (see video [2]). The long-term goal of this work is to develop a general repertoire of these behaviors, and to understand how such a repertoire might eventually constitute a general-purpose in-hand manipulation capability. I

A wheeled undercarriage with passive suspension for mobile robot assistants

Mobile Roboterassistenten sind mobile Roboter, die Menschen bei Alltags- und Arbeitsaufgaben unterstützen und entlasten, gefährliche Arbeiten übernehmen und mit Menschen interagieren können. Sie sollen sich in strukturierten Alltags- und Arbeitsumgebungen des Menschen bewegen können, mit mindestens einem Roboterarm ausgestattet sein und Nutzlasten von etwa 20 bis 80 kg tragen können. Bisher wurden Forschungsdemonstratoren entwickelt, die starre Radfahrwerke haben. Auch Radfahrwerke anderer mobiler Roboter sind fast ausnahmslos starr und benötigen ebenen harten Boden und mehr Platz zum Manövrieren als ein Mensch. Ziel dieser Arbeit ist es daher, zu untersuchen, ob sich Radfahrwerke für mobile Roboterassistenten nicht mit starren, sondern gefederten Radaufhängungen entwickeln lassen, mit denen es möglich ist, Bodenunebenheiten auszugleichen, Stöße und Vibrationen durch Unebenheiten im Fahrweg aufzunehmen und dabei Schleudern oder Kippen unter allen zu erwartenden Fahrsituationen zu verhindern. Ausgangspunkt dieser Untersuchungen sind die Erkenntnisse zur Fahrdynamik von Straßen- und Schienenfahrzeugen sein, die sich aber nur beschränkt auf Radfahrwerke mobiler Roboterassistenten übertragen lassen. In dieser Arbeit werden unterschiedliche Einsatzszenarien analysiert und ein Spektrum von Anforderungen an mögliche Realisierungsvarianten abgeleitet. Daraus werden Konzepte für Teil- und Gesamtsystem des Fahrwerks entwickelt und vergleichend bewertet. Für ein Konzept für Grundflächengeometrie und Radanordnung werden Fahrdynamikmodelle entwickelt, die in als extrem angenommenen Fahrsituationen simuliert werden. Aus diesen Ergebnissen und weiteren relevanten Gleichungen zu Fahrwerk und Antriebsstrang werden Auslegungsdiagramme und ein Vorgehensmodell entwickelt, das den Engineeringprozess von mobilen Roboterassistenten unterstützen kann. Schließlich werden die entwickelten Modelle und Auslegungsdiagramme durch Messungen an einer prototypischen Realisierung verifiziert und diskutiert.Mobile robot assistants are mobile robots, supporting and interacting with humans in their everyday-life tasks at home and at work. They are equipped with at least one robot arm and should carry payloads of about 20 to 80 kg. They should be able to maneuver in structured living- and working environments and in public areas. Until now, there only exist some early experimental prototypes as demonstrators for research and technology but no clear commercial product breakthrough has yet been made. There are two specific reasons why, at least in part, this is the case. The first is due to the difficulty of overcoming uneven floors, typical of many locations in human environments, because the undercarriage is inflexible. The second is that large footprints and additional space required for turning on the spot makes maneuvering in confined spaces and through narrow passages virtually impossible. The scope of this thesis is to examine the feasibility of developing undercarriages for mobile robot assistants with suspended wheels in order to compensate for realistic drive surface conditions. Under the limitation of a small footprint and consequently a center of gravity high above ground, it is essential to avoid fishtailing or tipping over at any expected driving situation. Starting point of this examination is the well known dynamics of road and rail vehicles, however not all results can be transferred to mobile robots. In this thesis different application scenarios are analyzed and a spectrum of requirements for potential realizations is derived. Based on the requirements a number of concepts for undercarriage and suspensions are developed. For some of these concepts dynamic models are developed and simulated in extreme driving situations. With these results and other model equations for undercarriage and drive train, essential design diagrams and an engineering procedure are derived. Finally these models and diagrams are verified and discussed based on measurements at a prototype realization

Motivational interviewing as a tool to enhance access to mental health treatment in adolescents with chronic medical conditions and need for psychological support (COACH-MI): study protocol for a clusterrandomised controlled trial

BACKGROUND: This cluster-randomised monocentric controlled trial focuses on improving the uptake symptoms of mental health care in adolescents with chronic medical conditions who have been identified by screening to have depression or anxiety. The study aims to determine the efficacy of motivational interviewing (MI) delivered by trained physicians to increase 12- to 20-year-old adolescents' utilisation of psychological health care for symptoms of anxiety or depression. METHODS/DESIGN: In this single-centre approach, n = 1,000 adolescents will be screened (using PHQ-9 and GAD-7), and adolescents with results indicative of anxiety or depressive symptoms (n = 162) will be advised to seek psychological health care in clusters from treating physicians in specialised outpatient departments. Participants who screen positive will receive either two sessions of MI or treatment as usual (TAU; regarded as the typical daily clinical practice), which is focused on recommending them to seek psychological health care for further evaluation. MI efficacy will be compared to the current TAU as the control condition. The primary outcome is the utilisation rate of psychological health care after counselling by an MI-trained physician vs. an untrained physician. Additionally, reasons for not claiming psychological support and changes in disease-related parameters will be evaluated in a 6-month follow-up session. DISCUSSION: This trial will evaluate the feasibility of MI as a way to improve the utilisation of mental health-care services by adolescents who need further support other than that provided by standard care for chronic diseases. Physicians offering MI to adolescents may serve as a model for optimising health-care management in daily clinical practice, which may improve adolescents' long-term well-being by improving adherence to medical treatment and preventing negative lifelong consequences into adulthood

Motivational Interviewing as a tool to enhance access to mental health treatment in adolescents with chronic medical conditions and need for psychological support (COACH-MI): study protocol for a clusterrandomised controlled trial

Abstract Background This cluster-randomised monocentric controlled trial focuses on improving the uptake symptoms of mental health care in adolescents with chronic medical conditions who have been identified by screening to have depression or anxiety. The study aims to determine the efficacy of motivational interviewing (MI) delivered by trained physicians to increase 12- to 20-year-old adolescents’ utilisation of psychological health care for symptoms of anxiety or depression. Methods/design In this single-centre approach, n = 1,000 adolescents will be screened (using PHQ-9 and GAD-7), and adolescents with results indicative of anxiety or depressive symptoms (n = 162) will be advised to seek psychological health care in clusters from treating physicians in specialised outpatient departments. Participants who screen positive will receive either two sessions of MI or treatment as usual (TAU; regarded as the typical daily clinical practice), which is focused on recommending them to seek psychological health care for further evaluation. MI efficacy will be compared to the current TAU as the control condition. The primary outcome is the utilisation rate of psychological health care after counselling by an MI-trained physician vs. an untrained physician. Additionally, reasons for not claiming psychological support and changes in disease-related parameters will be evaluated in a 6-month follow-up session. Discussion This trial will evaluate the feasibility of MI as a way to improve the utilisation of mental health-care services by adolescents who need further support other than that provided by standard care for chronic diseases. Physicians offering MI to adolescents may serve as a model for optimising health-care management in daily clinical practice, which may improve adolescents’ long-term well-being by improving adherence to medical treatment and preventing negative lifelong consequences into adulthood. Trial registration German Trials Register (DRKS), DRKS00014043. Registered on 26 April 2018. Düsseldorf University study ID: 2017114504

A prospective investigation of developmental trajectories of psychosocial adjustment in adolescents facing a chronic condition - study protocol of an observational, multi-center study

Background: Relatively little is known about protective factors and the emergence and maintenance of positive outcomes in the field of adolescents with chronic conditions. Therefore, the primary aim of the study is to acquire a deeper understanding of the dynamic process of resilience factors, coping strategies and psychosocial adjustment of adolescents living with chronic conditions. Methods/design: We plan to consecutively recruit N = 450 adolescents (12-21 years) from three German patient registries for chronic conditions (type 1 diabetes, cystic fibrosis, or juvenile idiopathic arthritis). Based on screening for anxiety and depression, adolescents are assigned to two parallel groups - 'inconspicuous' (PHQ-9 and GAD-7 < 7) vs. 'conspicuous' (PHQ-9 or GAD-7 >= 7) - participating in a prospective online survey at baseline and 12-month follow-up. At two time points (T1, T2), we assess (1) intra- and interpersonal resiliency factors, (2) coping strategies, and (3) health-related quality of life, well-being, satisfaction with life, anxiety and depression. Using a cross-lagged panel design, we will examine the bidirectional longitudinal relations between resiliency factors and coping strategies, psychological adaptation, and psychosocial adjustment. To monitor Covid-19 pandemic effects, participants are also invited to take part in an intermediate online survey. Discussion: The study will provide a deeper understanding of adaptive, potentially modifiable processes and will therefore help to develop novel, tailored interventions supporting a positive adaptation in youths with a chronic condition. These strategies should not only support those at risk but also promote the maintenance of a successful adaptation

Outpatient screening for anxiety and depression symptoms in adolescents with type 1 diabetes - a cross-sectional survey

Abstract Background The daily demands of type 1 diabetes management may jeopardize adolescents’ mental health. We aimed to assess anxiety and depression symptoms by broad-scale, tablet-based outpatient screening in adolescents with type 1 diabetes in Germany. Methods Adolescent patients with type 1 diabetes mellitus (n = 2,394; mean age 15.4 y [SD 2.0]; 50.7% male) were screened for anxiety (GAD-7) and depression symptoms (PHQ-9) by self-report questionnaires and linked to clinical data from the DPV patient registry. Logistic regression was used to estimate the contribution of clinical parameters to positive screening results. Results Altogether, 30.2% showed a positive screening (score ≥ 7 in either test), and 11.3% reported suicidal ideations or self-harm. Patients with anxiety and depression symptoms were older (15.7 y [CI 15.5–15.8] vs. 15.3 y [CI 15.2–15.4]; p  15 years (aOR 1.40 [1.16–1.68]; p  9% (> 75 mmol/mol; aOR 2.58 [1.83–3.64]; each p < 0.0001), with a migration background (aOR 1.46 [CI 1.17–1.81]; p < 0.001), or smoking (aOR 2.72 [CI 1.41–5.23]; p = 0.003) had a higher risk. Regular exercise was a significant protective factor (aOR 0.65 [CI 0.51–0.82]; p < 0.001). Advanced diabetes technologies did not influence screening outcomes. Conclusions Electronic mental health screening was implemented in 42 centers in parallel, and outcomes showed an association with clinical parameters from sociodemographic, lifestyle, and diabetes-related data. It should be integrated into holistic patient counseling, enabling early recognition of mild mental health symptoms for preventive measures. Females were disproportionally adversely affected. The use of advanced diabetes technologies did not yet reduce the odds of anxiety and depression symptoms in this cross-sectional assessment