Novel method for six-legged robots turning valves based on force sensing

2019 ◽  
Vol 133 ◽  
pp. 64-83 ◽  
Author(s):  
Yinan Zhao ◽  
Feng Gao ◽  
Yan Hu
Keyword(s):  
Legged Robots ◽  
Force Sensing ◽  
Novel Method

scholarly journals Reliable, Built-in, High-Accuracy Force Sensing for Legged Robots

2006 ◽  
Vol 25 (9) ◽  
pp. 931-950 ◽  
Author(s):  
Hector Montes ◽  
Samir Nabulsi ◽  
Manuel A. Armada
Keyword(s):  
High Accuracy ◽  
Legged Robots ◽  
Force Sensing

Surgical Slave with a Novel Method for Force Sensing and Trocar Friction Reduction

2012 ◽  
Vol 622-623 ◽  
pp. 1362-1367
Author(s):  
W. Schwalb ◽  
Bijan Shirinzadeh ◽  
J. Smith
Keyword(s):  
Minimally Invasive Surgery ◽  
Robotic Surgery ◽  
Paradigm Shift ◽  
Force Feedback ◽  
Cost Benefit ◽  
Day Surgery ◽  
Friction Reduction ◽  
Force Sensing ◽  
Novel Method ◽  
Design Requirements

Minimally invasive surgery (MIS) has had a major impact on modern day surgery, and has become the standard for various procedures. MIS however suffers from various impediments, and as a result, has seen robotic surgery gain rapid popularity. It is yet to be seen whether robotic surgery will cause another major paradigm shift, as these systems still require large costs, take up too much space, have an unclear cost benefit, and provide little or no force feedback. This paper presents a slave design for MIS, and a brief literature review on design requirements is given. A novel tool design for force/torque sensing is discussed, which uses an overcoat method to reduce measurement corruption at the trocar, and uses a single external 6-DOF f/t sensor.

scholarly journals A hybrid tactile sensor-based obstacle overcoming method for hexapod walking robots

2020 ◽  
Author(s):  
Mindaugas Luneckas ◽  
Tomas Luneckas ◽  
Dainius Udris ◽  
Darius Plonis ◽  
Rytis Maskeliūnas ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Flat Surface ◽  
Tactile Sensor ◽  
Legged Robots ◽  
Walking Robots ◽  
Positional Error ◽  
Tactile Sensors ◽  
Robot Locomotion ◽  
Promising Solution ◽  
Novel Method

AbstractWalking robots are considered as a promising solution for locomotion across irregular or rough terrain. While wheeled or tracked robots require flat surface like roads or driveways, walking robots can adapt to almost any terrain type. However, overcoming diverse terrain obstacles still remains a challenging task even for multi-legged robots with a high number of degrees of freedom. Here, we present a novel method for obstacle overcoming for walking robots based on the use of tactile sensors and generative recurrent neural network for positional error prediction. By using tactile sensors positioned on the front side of the legs, we demonstrate that a robot is able to successfully overcome obstacles close to robots height in the terrains of different complexity. The proposed method can be used by any type of a legged machine and can be considered as a step toward more advanced walking robot locomotion in unstructured terrain and uncertain environment.

Integrated Ground Reaction Force Sensing and Terrain Classification for Small Legged Robots

2016 ◽  
Vol 1 (2) ◽  
pp. 1125-1132 ◽  
Author(s):  
X. Alice Wu ◽  
Tae Myung Huh ◽  
Rudranarayan Mukherjee ◽  
Mark Cutkosky
Keyword(s):  
Ground Reaction Force ◽  
Reaction Force ◽  
Legged Robots ◽  
Force Sensing ◽  
Terrain Classification

scholarly journals Novel Method for Analyzing Flexible Locomotion Patterns of Animals by Using Polar Histogram

2020 ◽  
Vol 32 (4) ◽  
pp. 812-821
Author(s):  
Keisuke Naniwa ◽  
Yasuhiro Sugimoto ◽  
Koichi Osuka ◽  
Hitoshi Aonuma ◽  
◽  
...  
Keyword(s):  
Legged Robots ◽  
Rhythmic Pattern ◽  
Limb Movements ◽  
Field Crickets ◽  
Significant Difference ◽  
Locomotion Pattern ◽  
Novel Method ◽  
Tripod Gait ◽  
Leg Movement

In general, legged robots are designed to walk with a fixed rhythmic pattern. However, most animals can adapt their limb movements while walking. It is necessary to understand the mechanism of adaptability during locomotion when designing bio-inspired legged robots. In this paper, we propose an approach to analyze the flexible locomotion pattern of animals using a polar histogram. Field crickets were used to investigate variations in leg movement of insects depending on the environment. Crickets have a tripod gait; however, their leg movement changes depending on the texture of the ground. There was a significant difference between the leg movement when walking and when swimming. Our approach can explain how animals move their legs during locomotion. This study is useful for evaluating the movements of legged robots.

The removal and morphology of intact biofilms from implanted venous access devices

1995 ◽  
Vol 53 ◽  
pp. 1020-1021
Author(s):  
M.A. Gregory ◽  
G.P. Hadley
Keyword(s):  
Patient Selection ◽  
Surgical Oncology ◽  
Venous Access ◽  
Common Procedure ◽  
Indwelling Catheters ◽  
Careful Patient ◽  
Novel Method ◽  
The Subject ◽  
Vascular Catheters ◽  
Venous Access Devices

The insertion of implanted venous access systems for children undergoing prolonged courses of chemotherapy has become a common procedure in pediatric surgical oncology. While not permanently implanted, the devices are expected to remain functional until cure of the primary disease is assured. Despite careful patient selection and standardised insertion and access techniques, some devices fail. The most commonly encountered problems are colonisation of the device with bacteria and catheter occlusion. Both of these difficulties relate to the development of a biofilm within the port and catheter. The morphology and evolution of biofilms in indwelling vascular catheters is the subject of ongoing investigation. To date, however, such investigations have been confined to the examination of fragments of biofilm scraped or sonicated from sections of catheter. This report describes a novel method for the extraction of intact biofilms from indwelling catheters.15 children with Wilm’s tumour and who had received venous implants were studied. Catheters were removed because of infection (n=6) or electively at the end of chemotherapy.

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