On the Role of Inertial Actuators in Suppressing the Vibrations of a One-Link Robot Arm

2005 ◽  
Author(s):  
R.C. Montgomery
Keyword(s):  
Robot Arm

scholarly journals Robotic milking in dairy farming

1997 ◽  
Vol 45 (1) ◽  
pp. 15-31
Author(s):  
W. Rossing ◽  
P.H. Hogewerf ◽  
A.H. Ipema ◽  
C.C. Ketelaar-De Lauwere ◽  
C.J.A.M. De Koning
Keyword(s):  
Dairy Farms ◽  
Robot Arm ◽  
Mental Load ◽  
Engineering Research ◽  
Sensing System ◽  
Milking Frequency ◽  
Automatic Milking ◽  
Robotic Milking ◽  
Automatic Milking Systems

The role of engineering research in the development of robotic milking systems and the integration of robotic milking in dairy farms are reviewed. The milking stall, robot arm, teat sensing system, milking equipment and udder cleaning devices of commercial automatic milking systems (AMS) available in the Netherlands at the end of 1996 are described. The importance of the attractiveness of the milking stall, lay-out of the barn and the introduction of a cow routing with special gates in the barn is highlighted. Increasing the milking frequency from 2 to 3 times/day results in a higher yield of approximately 1000 kg milk/lactation. It is concluded that automatic milking will decrease the physical and mental load on the farmer, but it should be considered that the farmer is working with complicated equipment.

On the role of stiffness and synchronization in human–robot handshaking

2020 ◽  
Vol 39 (14) ◽  
pp. 1796-1811 ◽  
Author(s):  
Domenico Mura ◽  
Espen Knoop ◽  
Manuel G Catalano ◽  
Giorgio Grioli ◽  
Moritz Bächer ◽  
...  
Keyword(s):  
Personality Traits ◽  
Impedance Control ◽  
Robotic Arm ◽  
Robot Arm ◽  
Passive Behavior ◽  
Arm Motions ◽  
Human Arm ◽  
Human Likeness

This article presents a system for soft human–robot handshaking, using a soft robot hand in conjunction with a lightweight and impedance-controlled robot arm. Using this system, we study how different factors influence the perceived naturalness, and give the robot different personality traits. Capitalizing on recent findings regarding handshake grasp force regulation, and on studies of the impedance control of the human arm, we investigate the role of arm stiffness as well as the kinesthetic synchronization of human and robot arm motions during the handshake. The system is implemented using a lightweight anthropomorphic arm, with a Pisa/IIT Softhand wearing a sensorized silicone glove as the end-effector. The robotic arm is impedance-controlled, and its stiffness changes according to different laws under investigation. An internal observer is employed to synchronize the human and robot arm motions. Thus, we simulate both active and passive behavior of the robotic arm during the interaction. Using the system, studies are conducted where 20 participants are asked to interact with the robot, and then rate the perceived quality of the interaction using Likert scales. Our results show that the control of the robotic arm kinesthetic behavior does have an effect on the interaction with the robot, in term of its perceived personality traits, responsiveness, and human-likeness. Our results pave the way towards robotic systems that are capable of performing human–robot interactions in a more human-like manner, and with personality.

Fusion Clutch: A Bi-Stable Latching Mechanism for Human-Safe Robots

2017 ◽  
Author(s):  
Jillian C. Cochran ◽  
Jimin Hong ◽  
Aaron M. Dollar
Keyword(s):  
Joint Torque ◽  
Robot Arm ◽  
Robot System ◽  
High Impedance ◽  
Stable Mechanism ◽  
Small Force ◽  
Manufacturing Applications ◽  
Safety Systems ◽  
And Control

As the role of robotics continues to expand beyond highly structured manufacturing applications to other domains, including medical and service applications, safe operation in the presence of people is becoming increasingly important. Many existing safety systems rely on fragile and sophisticated joint torque sensors and control models that greatly add to the expense and complexity of the robot system. This paper presents the “Fusion Clutch”, a mechanical system for decoupling high-impedance actuators from the output, such as a robot arm, in the event of a collision. In its nominal configuration, the clutch couples the transmission to the output via a spring-loaded bi-stable mechanism that is able to quickly decouple the two in the event of a collision with very low activation force. After the actuator is disengaged, the clutch also applies a brake to the output that prevents it from falling under the force of gravity but allows the operator to still reposition it. This prevents a robot arm from pinning the operator after the mechanism had been activated. Experimental results validate the small force required to activate the mechanism, along with a substantial decrease in force impulse during impact.

scholarly journals Kontrol Gerak Robot Lengan Menggunakan Handphone

2017 ◽  
Vol 2 (1) ◽  
pp. 58-65
Author(s):  
Ariyono SE
Keyword(s):  
Control System ◽  
Life Style ◽  
Robot Arm ◽  
Ordinary Life ◽  
The People ◽  
Communication Device ◽  
Technological Advances ◽  
Robot Arm Control ◽  
Working Principle

At this time the development and technological advances encourage the people to change the ordinary life style extra ordinary life style, sophisticated, modern, and still give priority to security that become relatively high. Therefore human is required in order to adapt twith the condition that exist at this time. One of them is the development in the robotics world. Because the benefits of robot is very important in helping the human job or replace the role of humans life, either in industry or in other sector that have a control system respectively. Therefore designed a robot arm control system using a communication device that is familiar and almost every people use it. That is a handphone. The working principle of that device a command or input from handphone then transmitted to electronic circuit that used bluetooth media. There is also bluetooth at the circuit that work to continue use data or command from handphone. On microcontroller using IC ATMEGA 16 and the programing language C. From the microcontroller has set the motor DC on robot arm. Which will be driveraccording with instruction that given by that handphone

scholarly journals Influence of force and duration on stone tool wear: results from experiments with a force-controlled robot

2018 ◽  
Author(s):  
Johannes Pfleging ◽  
Radu Iovita ◽  
Jonas Buchli
Keyword(s):  
Quantitative Methods ◽  
Human Action ◽  
Stone Tool ◽  
Robot Arm ◽  
Motion Direction ◽  
Optical Images ◽  
Human Experiments ◽  
Force Profiles ◽  
Made In

Many studies have shown that micro-wear analysis can identify some parameters such as worked material and motion direction with varying degrees of success. However, because experiments have traditionally been carried out by un-monitored humans, we do not fully understand the role of force in wear formation. Here we compare the amount of wear produced by duration vs. applied force in a controlled experiment and using both the inspection of optical images and quantitative parameters describing surface topography. We used flint flakes attached to a force/ torque controllable robot arm to scrape standardized beech wooden planks under constant force profiles. The force profiles were obtained by previous experiments in scraping described in Pfleging et al. (2015). We varied the force level and use duration among the experiments. Worn pieces were imaged with an Alicona InfiniteFocus G4 microscope and the polished parts of the flakes were analysed using areal field parameters from metrology. The data is publicly available on the internet. Results indicate that use duration contributes more significantly to polish formation than force, confirming assumptions made in human experiments performed in the 1980s. Moreover, simple metrological height parameters appear inadequate for capturing the degree of polish. We conclude that more sophisticated quantitative methods are required to go beyond the subjective human evaluation of optical images to reconstruct past human action.

Role of dactinomycin in the improved survival of children with Wilms' tumor

JAMA ◽  
1966 ◽  
Vol 195 (12) ◽  
pp. 1005-1009 ◽  
Author(s):  
D. J. Fernbach
Keyword(s):  
Wilms Tumor

Role of the allergist in diagnosis and management of patients with uveitis

JAMA ◽  
1966 ◽  
Vol 195 (3) ◽  
pp. 167-172 ◽  
Author(s):  
T. E. Van Metre
Keyword(s):  
Diagnosis And Management

The power of norms to sway fused group members

2018 ◽  
Vol 41 ◽  
Author(s):  
Winnifred R. Louis ◽  
Craig McGarty ◽  
Emma F. Thomas ◽  
Catherine E. Amiot ◽  
Fathali M. Moghaddam
Keyword(s):  
Evolutionary Anthropology ◽  
Normative Systems ◽  
Violent Extremism ◽  
Identity Fusion ◽  
Group Members

AbstractWhitehouse adapts insights from evolutionary anthropology to interpret extreme self-sacrifice through the concept of identity fusion. The model neglects the role of normative systems in shaping behaviors, especially in relation to violent extremism. In peaceful groups, increasing fusion will actually decrease extremism. Groups collectively appraise threats and opportunities, actively debate action options, and rarely choose violence toward self or others.

Elaborating the role of reflection and individual differences in the study of folk-economic beliefs

2018 ◽  
Vol 41 ◽  
Author(s):  
Kevin Arceneaux
Keyword(s):  
Decision Making ◽  
Individual Differences ◽  
Cognitive Processes ◽  
Evolutionary History ◽  
Behavioral Responses ◽  
History Of ◽  
Economic Beliefs

AbstractIntuitions guide decision-making, and looking to the evolutionary history of humans illuminates why some behavioral responses are more intuitive than others. Yet a place remains for cognitive processes to second-guess intuitive responses – that is, to be reflective – and individual differences abound in automatic, intuitive processing as well.

The role of affect in feelings of obligation

2020 ◽  
Vol 43 ◽  
Author(s):  
Stefen Beeler-Duden ◽  
Meltem Yucel ◽  
Amrisha Vaish
Keyword(s):  
Positive Emotions ◽  
The Creation ◽  
Sense Of Obligation

Abstract Tomasello offers a compelling account of the emergence of humans’ sense of obligation. We suggest that more needs to be said about the role of affect in the creation of obligations. We also argue that positive emotions such as gratitude evolved to encourage individuals to fulfill cooperative obligations without the negative quality that Tomasello proposes is inherent in obligations.

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