Grasping Strategy and Control Algorithm of Two Robotic Fingers Equipped with Optical Three-Axis Tactile Sensors

AbstractThis paper presents grasping strategy of robot fingers based on tactile sensing information acquired by optical three-axis tactile sensor. We developed a novel optical three-axis tactile sensor system based on an optical waveguide transduction method capable of acquiring normal and shearing forces. The sensors are mounted on fingertips of two robotic fingers. To enhance the ability of recognizing and manipulating objects, we designed the robot control system architecture comprised of connection module, thinking routines, and a hand/finger control modules. We proposed tactile sensing-based control algorithm in the robot finger control system to control fingertips movements by defining optimum grasp pressure and perform re-push movement when slippage was detected. Verification experiments were conducted whose results revealed that the finger's system managed to recognize the stiffness of unknown objects and complied with sudden changes of the object's weight during object manipulation tasks

Analysis of flexibility in humanoid robot structure design to attain human-like motions / Hanafiah Yussof … [et al.]

This paper presents analyses of flexibility in humanoid robot structure design focusing on design parameters of degree of freedoms and joint angle range characteristic to identify elements that provide flexibility for humanoid robots to attain human-like motion. Description and correlation of physical structure flexibility between human and humanoid robot to perform motion is presented to clarify the elements. This analysis utilized the joint structure design, configuration of degree of freedoms and joint rotation range of a 21-dof humanoid robot Bonten-Maru II. Experiments utilizing this robot were conducted, with results indicates effective design parameters to attain flexibility in human-like motion

Humanoid Research on Brain-Impaired Children: Comparative Policies

AbstractThe purpose of this paper is to provide rigorous, narrative and in-depth scrutiny on the policies in humanoid research on brain-impaired children. In the health care industry, the use of therapeutic robots in rehabilitation has been significant. Thus, the paper will explore the fundamental, benchmarking issues of similar policies and guidelines of other nations to suit Malaysia's research environment. The methodology for this study will employ library research and content analyses including insider input. The four policies are; the Malaysia National Welfare Policy (1990), the Malaysia National Social Policy (2003), the Malaysia National Policy for Persons with Disabilities (2007), and the Malaysia National Plan of Action for Persons with Disabilities (2007-2012). From the five policy papers, it is expected that any research projects involving children with mental disabilities will require the compliance with the current statutes and policies but should there emerge a unique case, an extension to one of the policies would have to be undertaken to circumvent ethics in research practices. Also, the narrative outcome from this scrutiny includes a discussion of the relevance of these policies

Effect of heat treatment on mechanical properties and susceptibility to stress corrosion cracking of aluminium alloy

The effect of the retrogression and reaging (RRA) heat treatment on the correlation between microstructure, mechanical properties and susceptibility to stress corrosion cracking (SCC) of the 6061-T6 aluminium alloy in dry air and sprayed in 3.5% NaCl solution has been studied. The as-received T6 alloy was subjected to retrogression at temperature 200°C for 10 minutes, quenching for 30 seconds and reaging at temperature 180°C for 24 h. In this study, the effect of RRA on mechanical properties of the as-received 6061-T6 alloy was investigated by tensile test in air and sprayed in 3.5% NaCl solution. Alternate immersion preparation was conducted to expose the as-received 6061-T6 alloys and RRA heat treated alloys into the corrosive environment, 3.5% NaCl solution for 20 days. The susceptibility to SCC was investigated by direct tension stress-corrosion (DTSC) tests sprayed in a 3.5% NaCl solution at crosshead speed of 0.2 mm/min; the loss of elongation (ELloss) was taken into account for the susceptibility to SCC. Generally, the RRA heat treatment improves the mechanical properties including yield strength, ultimate tensile strength and ductility. On the other hand, the RRA heat treatment decreases the susceptibility to SCC

Design concept of a new bio-inspired tactile sensor based on main pulvinus motor organ cells distribution of Mimosa pudica plant

This paper proposed a novel concept for a new tactile sensor that is inspired by the seismonastic movement of plants. The movement of Mimosa Pudica leaf is due to the change of pressure between the upper and lower motor organ of main pulvinus. From an engineering point of view, the turgidity changes capable of reversible shape changes, thus bringing the idea of sensing and actuating concept of a new tactile sensor. The idea is to fusion the artificial cell of Mimosa Pudica as the sensing mechanism for the new bio-inspired tactile sensor. Experiments have been conducted in order to determine the volume of the upper n lower motor organ cells of main pulvinus. The aim is to view the cross section of the main pulvinus between before and after the stimulation applied which led to two experiment procedures. Experimental results show that area of upper motor organ cell is approximately 50% larger than lower part for all four samples when mechanical stimulation applied. The design concept of the bio-inspired tactile sensor is proposed