On redundancy resolution of the human thumb, index and middle fingers in cooperative object translation

Robotica ◽  
2016 ◽  
Vol 35 (10) ◽  
pp. 1992-2017 ◽  
Author(s):  
Felix Orlando Maria Joseph ◽  
Laxmidhar Behera ◽  
Tomoya Tamei ◽  
Tomohiro Shibata ◽  
Ashish Dutta ◽  
...  
Keyword(s):  
Kinematic Model ◽  
Inverse Kinematic ◽  
Small Object ◽  
Redundancy Resolution ◽  
Joint Angles ◽  
Motion Data ◽  
Grasping And Manipulation ◽  
Finger Motion ◽  
And Control ◽  
Neuromuscular Coordination

SUMMARYRedundancy in motion, and synergy in neuromuscular coordination provides significant versatility to the human fingers while performing coordinated grasping and manipulation tasks in several ways. This paper explores how humans may resolve the redundancy in their thumb, index and middle fingers when these digits flex to cooperatively translate a small object toward the palm. It is observed that humans actively employ a secondary subtask of maximizing instantaneous manipulability that helps determine all intermediate finger configurations when performing the primary subtask of following a tip trajectory. This behavior is accurately captured by an inverse kinematic model based on aredundancyparameter. The joint angles get determined unambiguously though the redundancy parameter is shown to depend on the instantaneous finger configurations and also, to attain negative values. Further, this parameter is noted to vary significantly across subjects performing the same kinematic task. The findings, that are based on the experimental finger motion data garnered from 12 subjects, are reckoned to be of significant importance, especially in reference to the challenges in design and control of finger exoskeletons for cooperative manipulation.

Nine Degree-of-Freedom Kinematic Modeling of the Upper-Limb Complex for Constrained Workspace Evaluation

2020 ◽  
Vol 143 (2) ◽  
Author(s):  
Brayden DeBoon ◽  
Ryan C. A. Foley ◽  
Scott Nokleby ◽  
Nicholas J. La Delfa ◽  
Carlos Rossa
Keyword(s):  
Upper Limb ◽  
Evaluation Method ◽  
Kinematic Model ◽  
Joint Space ◽  
Inverse Kinematic ◽  
Degree Of Freedom ◽  
Kinematic Modeling ◽  
Joint Angles ◽  
Rehabilitative Treatment ◽  
Rehabilitation Devices

Abstract The design of rehabilitation devices for patients experiencing musculoskeletal disorders (MSDs) requires a great deal of attention. This article aims to develop a comprehensive model of the upper-limb complex to guide the design of robotic rehabilitation devices that prioritize patient safety, while targeting effective rehabilitative treatment. A 9 degree-of-freedom kinematic model of the upper-limb complex is derived to assess the workspace of a constrained arm as an evaluation method of such devices. Through a novel differential inverse kinematic method accounting for constraints on all joints1820, the model determines the workspaces in which a patient is able to perform rehabilitative tasks and those regions where the patient needs assistance due to joint range limitations resulting from an MSD. Constraints are imposed on each joint by mapping the joint angles to saturation functions, whose joint-space derivative near the physical limitation angles approaches zero. The model Jacobian is reevaluated based on the nonlinearly mapped joint angles, providing a means of compensating for redundancy while guaranteeing feasible inverse kinematic solutions. The method is validated in three scenarios with different constraints on the elbow and palm orientations. By measuring the lengths of arm segments and the range of motion for each joint, the total workspace of a patient experiencing an upper-limb MSD can be compared to a preinjured state. This method determines the locations in which a rehabilitation device must provide assistance to facilitate movement within reachable space that is limited by any joint restrictions resulting from MSDs.

Dynamic Modeling and Control of the Hexapod Robot Using Matlab SimMechanics

2018 ◽  
Author(s):  
Sameh I. Beaber ◽  
Abdelrahman S. Zaghloul ◽  
Mohamed A. Kamel ◽  
Wessam M. Hussein
Keyword(s):  
Dynamic Modeling ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Legged Robot ◽  
Hexapod Robot ◽  
Modeling And Control ◽  
Robot Trajectory ◽  
Tripod Gait ◽  
Inverse Kinematic Analysis ◽  
And Control

This paper presents a detailed dynamic modeling of phantom ax12 six-legged robot using Matlab SimMechanics™. The direct and inverse kinematic analysis for each leg has been considered in order to develop an overall kinematic model of the robot. Trajectory of each leg is also considered for both swing and support phases when the robot walks with tripod gait in a straight path. Newton-Euler formulation has been utilized to determine the joint’s torque. These results were verified using SimMechanics™. Also, feet force distributions of the hexpaod are estimated via SimMechanics™, which is necessary for its control.

Global motion planning and redundancy resolution for large objects manipulation by dual redundant robots with closed kinematics

Robotica ◽  
2021 ◽  
pp. 1-26
Author(s):  
Yongxiang Wu ◽  
Yili Fu ◽  
Shuguo Wang
Keyword(s):  
Motion Planning ◽  
Inverse Kinematic ◽  
Redundancy Resolution ◽  
Global Motion ◽  
Redundant Robots ◽  
Planning And Control ◽  
Closed Chain ◽  
Simulation And Experiment ◽  
Resolution Problem ◽  
And Control

Abstract The multi-arm robotic systems consisting of redundant robots are able to conduct more complex and coordinated tasks, such as manipulating large or heavy objects. The challenges of the motion planning and control for such systems mainly arise from the closed-chain constraint and redundancy resolution problem. The closed-chain constraint reduces the configuration space to lower-dimensional subsets, making it difficult for sampling feasible configurations and planning path connecting them. A global motion planner is proposed in this paper for the closed-chain systems, and motions in different disconnected manifolds are efficiently bridged by two type regrasping moves. The regrasping moves are automatically chosen by the planner based on cost-saving principle, which greatly improve the success rate and efficiency. Furthermore, to obtain the optional inverse kinematic solutions satisfying joint physical limits (e.g., joint position, velocity, acceleration limits) in the planning, the redundancy resolution problem for dual redundant robots is converted into a unified quadratic programming problem based on the combination of two diff erent-level optimizing criteria, i.e. the minimization velocity norm (MVN) and infinity norm torque-minimization (INTM). The Dual-MVN-INTM scheme guarantees smooth velocity, acceleration profiles, and zero final velocity at the end of motion. Finally, the planning results of three complex closed-chain manipulation task using two Franka Emika Panda robots and two Kinova Jaco2 robots in both simulation and experiment demonstrate the effectiveness and efficiency of the proposed method.

scholarly journals Analysis and control for a new reconfigurable parallel mechanism

2020 ◽  
Vol 17 (5) ◽  
pp. 172988142093132
Author(s):  
Guanyu Huang ◽  
Dan Zhang ◽  
Hongyan Tang ◽  
Lingyu Kong ◽  
Sumian Song
Keyword(s):  
Dynamic Model ◽  
Pid Controller ◽  
Parallel Mechanism ◽  
Screw Theory ◽  
Sliding Mode ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Loop Equation ◽  
Lagrange Formulation ◽  
And Control

This article proposes a new reconfigurable parallel mechanism using a spatial overconstrained platform. This proposed mechanism can be used as a machine tool. The mobility is analyzed by Screw Theory. The inverse kinematic model is established by applying the closed-loop equation. Next, the dynamic model of the presented mechanism is established by Lagrange formulation. To control the presented mechanism, some controllers have been used. Based on this dynamic model, the fuzzy-proportion integration differentiation (PID) controller is designed to track the trajectory of the end effector. For each limb, a sliding mode controller is applied to track the position and velocity of the slider. Finally, some simulations using ADAMS and MATLAB are proposed to verify the effectiveness and stability of these controllers.

A Kinematic Study of Human Torso Motion

2007 ◽  
Author(s):  
Christian Simonidis ◽  
Gu¨nther Stelzner ◽  
Wolfgang Seemann
Keyword(s):  
Kinematic Model ◽  
Shoulder Girdle ◽  
Humanoid Robots ◽  
Inverse Kinematic ◽  
Motion Data ◽  
Multibody Model ◽  
Natural Motion ◽  
Kinematic Study ◽  
Relative Coordinates ◽  
New Formulation

This paper illustrates a kinematic study of human torso motion in order to design and transfer human-like motion on humanoid robots. The realization is done using motion capture data and an optimization based inverse kinematic approach for mapping motion data to skeleton models with the main focus on reproducing realistic torso motion. The kinematic model is based on a multiybody approach using relative coordinates. According to the difficulty of marker based motion reconstruction of human torso movements a detailed multibody model of the spine with a coupling structure between vertebrae based on medical data is introduced. Then, a new formulation describing the kinematic constraints between pelvis and shoulder girdle is presented in order to simplify modeling effort while maintaining natural motion of the torso. Results are compared for key movements with common models. The developed models will be used for design application in the Collaborative Research Center 588 “Humanoid Robots - Learning and Cooperating Multimodal Robots”.

scholarly journals A Cross-Platform Web3D Monitoring System of the Three-Machine Equipment in a Fully Mechanized Coalface Based on the Skeleton Model and Sensor Data

2020 ◽  
Vol 2020 ◽  
pp. 1-14
Author(s):  
Zhengxiong Lu ◽  
Wei Guo ◽  
Shuanfeng Zhao ◽  
Chuanwei Zhang ◽  
Yuan Wang ◽  
...  
Keyword(s):  
Monitoring System ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Sensor Data ◽  
Kinematic Modeling ◽  
Hydraulic Support ◽  
Skeleton Model ◽  
Motion Data ◽  
Mesh Model ◽  
Cross Platform

A fully mechanized coalface is a rugged environment that has poor visibility. The traditional video monitoring system has problems such as a lack of realism, a blurry monitoring effect, and poor reliability. It is an important task to monitor the operations of the three-machine equipment (we will refer to the shearer, hydraulic support, and scraper conveyor as the three-machine equipment) intuitively, accurately, and timely and ensure that it is operating safely. This study proposed a cross-platform Web3D monitoring system for the three-machine equipment. First, the virtual mesh model and skeleton model that was embedded in the mesh model were established according to three-machine ontology and basic motion units. Second, the kinematic model of the three-machine skeleton was established via the inverse kinematic modeling of the hydraulic support and the coordinate calculation of the vertices on the three-machine skeleton. Third, the motion data, which were captured by sensors, were applied to drive the movement of the three-machine skeleton and mesh model. Finally, WebGL, which is the latest Internet graphics standard, was used to render the three-machine models, and the performance of this monitoring system is tested on different equipment in the laboratory. The results of the test show that the three-machine cross-platform monitoring system has splendid performance, and it realizes cross-platform 3D monitoring effectively in the laboratory. In the future, this system will be used as a supervisory tool and be integrated with the traditional monitoring system to monitor the three-machine equipment with the field staff.

MODULAR IK: A ROBUST INVERSE KINEMATIC ALGORITHM FOR GESTURE IMITATION IN AN UPPER-BODY HUMANOID ROBOT

2012 ◽  
Vol 09 (02) ◽  
pp. 1250010 ◽  
Author(s):  
KENG PENG TEE ◽  
RUI YAN ◽  
YUANWEI CHUA ◽  
ZHIYONG HUANG ◽  
HAIZHOU LI
Keyword(s):  
Humanoid Robot ◽  
Regularization Parameter ◽  
Inverse Kinematic ◽  
Human Motion ◽  
Upper Body ◽  
Robot Arm ◽  
Tracking Accuracy ◽  
Joint Angles ◽  
Motion Data ◽  
Singular Configuration

A method of computing humanoid robot joint angles from human motion data is presented in this paper. The proposed method groups the motors of an upper-body humanoid robot into pan-tilt and spherical modules, solves the inverse kinematics (IK) problem for each module, and finally resolves the coordinate transformations among the modules to yield the full solution. Scaling of the obtained joint angles and velocities is performed to ensure that their limits are satisfied and their smoothness preserved. To address robustness-accuracy tradeoff when handling kinematic singularity, we design an adaptive regularization parameter that is active only when the robot is operating near any singular configuration. This adaptive algorithm is provably robust and is simple and fast to compute. Simulation on a seven degree-of-freedom (DOF) robot arm shows that tracking accuracy is slightly reduced in a neighborhood of a singularity to gain robustness, but high accuracy is recovered outside this neighborhood. Experimentation on a 17-DOF upper-body humanoid robot confirms that user-demonstrated gestures are closely imitated by the robot. The proposed method outperforms state-of-the-art Jacobian-based IK in terms of overall imitation accuracy, while guaranteeing robust and smoothly scaled trajectories. It is ideally suited for applications such as humanoid robot teleoperation or programming by demonstration.

scholarly journals Observation and analysis of diving beetle movements while swimming

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Debo Qi ◽  
Chengchun Zhang ◽  
Jingwei He ◽  
Yongli Yue ◽  
Jing Wang ◽  
...  
Keyword(s):  
Swimming Speed ◽  
High Speed ◽  
Kinematic Model ◽  
Movement Pattern ◽  
Unmanned Vehicles ◽  
Power Stroke ◽  
Cross Sectional ◽  
Motion Data ◽  
The Cross ◽  
Diving Beetle

AbstractThe fast swimming speed, flexible cornering, and high propulsion efficiency of diving beetles are primarily achieved by their two powerful hind legs. Unlike other aquatic organisms, such as turtle, jellyfish, fish and frog et al., the diving beetle could complete retreating motion without turning around, and the turning radius is small for this kind of propulsion mode. However, most bionic vehicles have not contained these advantages, the study about this propulsion method is useful for the design of bionic robots. In this paper, the swimming videos of the diving beetle, including forwarding, turning and retreating, were captured by two synchronized high-speed cameras, and were analyzed via SIMI Motion. The analysis results revealed that the swimming speed initially increased quickly to a maximum at 60% of the power stroke, and then decreased. During the power stroke, the diving beetle stretched its tibias and tarsi, the bristles on both sides of which were shaped like paddles, to maximize the cross-sectional areas against the water to achieve the maximum thrust. During the recovery stroke, the diving beetle rotated its tarsi and folded the bristles to minimize the cross-sectional areas to reduce the drag force. For one turning motion (turn right about 90 degrees), it takes only one motion cycle for the diving beetle to complete it. During the retreating motion, the average acceleration was close to 9.8 m/s2 in the first 25 ms. Finally, based on the diving beetle's hind-leg movement pattern, a kinematic model was constructed, and according to this model and the motion data of the joint angles, the motion trajectories of the hind legs were obtained by using MATLAB. Since the advantages of this propulsion method, it may become a new bionic propulsion method, and the motion data and kinematic model of the hind legs will be helpful in the design of bionic underwater unmanned vehicles.

scholarly journals A New Approach of Soft Joint Based on a Cable-Driven Parallel Mechanism for Robotic Applications

Mathematics ◽  
2021 ◽  
Vol 9 (13) ◽  
pp. 1468
Author(s):  
Luis Nagua ◽  
Carlos Relaño ◽  
Concepción A. Monje ◽  
Carlos Balaguer
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Experimental Tests ◽  
Humanoid Robots ◽  
Inverse Kinematic ◽  
Element Analysis ◽  
New Approach ◽  
Flexible Polymer ◽  
The Mathematical Model

A soft joint has been designed and modeled to perform as a robotic joint with 2 Degrees of Freedom (DOF) (inclination and orientation). The joint actuation is based on a Cable-Driven Parallel Mechanism (CDPM). To study its performance in more detail, a test platform has been developed using components that can be manufactured in a 3D printer using a flexible polymer. The mathematical model of the kinematics of the soft joint is developed, which includes a blocking mechanism and the morphology workspace. The model is validated using Finite Element Analysis (FEA) (CAD software). Experimental tests are performed to validate the inverse kinematic model and to show the potential use of the prototype in robotic platforms such as manipulators and humanoid robots.

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