Sensor and Control Concept for a Wearable Robot for Manual Load Handling Assistance

2017 ◽  
pp. 87-100
Author(s):  
P. Stelzer ◽  
B. Otten ◽  
W. Kraus ◽  
A. Pott
Keyword(s):  
Wearable Robot ◽  
Control Concept ◽  
And Control ◽  
Load Handling

scholarly journals Real-Time Robust 3D Plane Extraction for Wearable Robot Perception and Control

2018 ◽  
Author(s):  
Ran Duan ◽  
Shuangyue Yu ◽  
Guang Yue ◽  
Richard Foulds ◽  
Chen Feng ◽  
...  
Keyword(s):  
Wearable Robot ◽  
Intelligent Control System ◽  
Robot Perception ◽  
Perception System ◽  
Plane Extraction ◽  
Environment Perception ◽  
Model Transition ◽  
Terrain Sensing ◽  
Task Oriented ◽  
And Control

Wearable environment perception system has the great potential for improving the autonomous control of mobility aids [1]. A visual perception system could provide abundant information of surroundings to assist the task-oriented control such as navigation, obstacle avoidance, object detection, etc., which are essential functions for the wearers who are visually impaired or blind [2, 3, 4]. Moreover, a vision-based terrain sensing is a critical input to the decision-making for the intelligent control system. Especially for the users who find difficulties in manually achieving a seamless control model transition.

Supervisory Control of Drilling

1996 ◽  
Vol 118 (1) ◽  
pp. 10-19 ◽  
Author(s):  
R. J. Furness ◽  
A. Galip Ulsoy ◽  
C. L. Wu
Keyword(s):  
Process Control ◽  
Torque Control ◽  
Feed Speed ◽  
Machining Time ◽  
Control Approach ◽  
Drilling Operation ◽  
Control Functions ◽  
Control Concept ◽  
Supervisory Process ◽  
And Control

A supervisory process control approach to machining is presented in this paper, and demonstrated by application to a drilling operation. The supervisory process control concept incorporates optimization and control functions in a hierarchical structure. This approach utilizes feedback measurements to parameterize the constraints of a process optimization problem whose solution determines both strategies and references for process control. For this particular drilling operation, a three-phase strategy (utilizing a combination of feed, speed, and torque control) evolved due to inherent variation in constraint activity as a function of hole depth. A controller comparison study was conducted which demonstrates the advantages of this approach compared to (1) uncontrolled “conventional” drilling, (2) feed and speed controlled drilling, and (3) torque and speed controlled drilling. Benefits of reduced machining time, improved hole quality, and the elimination of tool breakage are demonstrated, and the potential economic impact is highlighted for an example production application.

Aligning and maintaining the optics for the James Webb Space Telescope (JWST) on-orbit: the wavefront sensing and control concept of operations

2006 ◽  
Author(s):  
Adam R. Contos ◽  
D. Scott Acton ◽  
Paul D. Atcheson ◽  
Allison A. Barto ◽  
Paul A. Lightsey ◽  
...  
Keyword(s):  
Wavefront Sensing ◽  
Space Telescope ◽  
James Webb Space Telescope ◽  
Control Concept ◽  
And Control ◽  
Concept Of Operations

scholarly journals Towards the development of a soft manipulator as an assistive robot for personal care of elderly people

2017 ◽  
Vol 14 (2) ◽  
pp. 172988141668713 ◽  
Author(s):  
Yasmin Ansari ◽  
Mariangela Manti ◽  
Egidio Falotico ◽  
Yoan Mollard ◽  
Matteo Cianchetti ◽  
...  
Keyword(s):  
The Elderly ◽  
Open Loop ◽  
Human Robot Interaction ◽  
Body Parts ◽  
Assistive Robot ◽  
Control Concept ◽  
Care Of Elderly ◽  
Hybrid Actuation ◽  
Soft Manipulator ◽  
And Control

Manipulators based on soft robotic technologies exhibit compliance and dexterity which ensures safe human–robot interaction. This article is a novel attempt at exploiting these desirable properties to develop a manipulator for an assistive application, in particular, a shower arm to assist the elderly in the bathing task. The overall vision for the soft manipulator is to concatenate three modules in a serial manner such that (i) the proximal segment is made up of cable-based actuation to compensate for gravitational effects and (ii) the central and distal segments are made up of hybrid actuation to autonomously reach delicate body parts to perform the main tasks related to bathing. The role of the latter modules is crucial to the application of the system in the bathing task; however, it is a nontrivial challenge to develop a robust and controllable hybrid actuated system with advanced manipulation capabilities and hence, the focus of this article. We first introduce our design and experimentally characterize its functionalities, which include elongation, shortening, omnidirectional bending. Next, we propose a control concept capable of solving the inverse kinetics problem using multiagent reinforcement learning to exploit these functionalities despite high dimensionality and redundancy. We demonstrate the effectiveness of the design and control of this module by demonstrating an open-loop task space control where it successfully moves through an asymmetric 3-D trajectory sampled at 12 points with an average reaching accuracy of 0.79 cm ± 0.18 cm. Our quantitative experimental results present a promising step toward the development of the soft manipulator eventually contributing to the advancement of soft robotics.

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