Mechanism Design and Simulation of the ULTRA Spine: A Tensegrity Robot

2015 ◽  
Author(s):  
Andrew P. Sabelhaus ◽  
Hao Ji ◽  
Patrick Hylton ◽  
Yakshu Madaan ◽  
ChanWoo Yang ◽  
...  
Keyword(s):  
Mechanism Design ◽  
Design Process ◽  
Inverse Kinematics ◽  
Gear Ratio ◽  
Forward Kinematics ◽  
Robot Design ◽  
Link Structure ◽  
Iterative Design ◽  
Quadruped Robots ◽  
Ongoing Effort

The Underactuated Lightweight Tensegrity Robotic Assistive Spine (ULTRA Spine) project is an ongoing effort to create a compliant, cable-driven, 3-degree-of-freedom, underactuated tensegrity core for quadruped robots. This work presents simulations and preliminary mechanism designs of that robot. Design goals and the iterative design process for an ULTRA Spine prototype are discussed. Inverse kinematics simulations are used to develop engineering characteristics for the robot, and forward kinematics simulations are used to verify these parameters. Then, multiple novel mechanism designs are presented that address challenges for this structure, in the context of design for prototyping and assembly. These include the spine robot’s multiple-gear-ratio actuators, spine link structure, spine link assembly locks, and the multiple-spring cable compliance system.

Kinematics Simulation Analysis of Turn-Milling Center Based on Virtual Prototype

2010 ◽  
Vol 43 ◽  
pp. 683-686
Author(s):  
Li Da Zhu ◽  
Jia Ying Pei ◽  
Tian Biao Yu ◽  
Wan Shan Wang
Keyword(s):  
Mechanism Design ◽  
Inverse Kinematics ◽  
Development Time ◽  
Simulation Analysis ◽  
Forward Kinematics ◽  
Optimized Design ◽  
Kinematics Simulation ◽  
Physical Prototype ◽  
Motion Characteristics ◽  
Turn Milling

In order to analyze the motion characteristics of turn-milling center, it’s prototype is modeled and spiral motion is simulated and analyzed to get curves of displacement and velocity in forward kinematics and inverse kinematics. The rationality and applicability of mechanism design is verificated to provide the basis of fast optimized design of turn-milling center. So the method can forecast and improve before physical prototype manufacturing to ensure design feasibility and save development time.

Inclined Links Hyper-Redundant Elephant Trunk-Like Robot

2012 ◽  
Vol 4 (4) ◽  
Author(s):  
Oded Salomon ◽  
Alon Wolf
Keyword(s):  
Mechanism Design ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Forward Kinematics ◽  
Elephant Trunk ◽  
Redundant Robots ◽  
Wide Range ◽  
External Loads ◽  
Novel Design ◽  
Robotic Applications

Hyper-redundant robots (HRR) have many more degrees of freedom (DOF) than required, which enable them to handle more constraints, such as those present in highly convoluted volumes. Consequently, they can serve in many robotic applications, while extending the reachability and maneuverability of the operator. Many degrees of freedom that furnish the HRR with its wide range of capabilities also provide its major challenges: mechanism design, control, and path planning. In this paper, we present a novel design of a HRR composed of 16DOF. The HRR is composed of two concentric structures: a passive backbone and an exoskeleton which carries self-weight as well as external loads. The HRR is 80 cm long, 7.7 cm in diameter, achieves high rigidity and accuracy and is capable of 180 deg bending. The forward kinematics of the HRR is presented along with the inverse kinematics of a link.

A Perioperative Care Display for Understanding High Acuity Patients

2021 ◽  
Vol 12 (01) ◽  
pp. 164-169
Author(s):  
Laurie Lovett Novak ◽  
Jonathan Wanderer ◽  
David A. Owens ◽  
Daniel Fabbri ◽  
Julian Z. Genkins ◽  
...  
Keyword(s):  
Data Visualization ◽  
Design Process ◽  
Cognitive Task ◽  
Development Project ◽  
Clinical Informatics ◽  
Data Display ◽  
Data Types ◽  
Iterative Design ◽  
High Acuity ◽  
Depth Interviews

Abstract Background The data visualization literature asserts that the details of the optimal data display must be tailored to the specific task, the background of the user, and the characteristics of the data. The general organizing principle of a concept-oriented display is known to be useful for many tasks and data types. Objectives In this project, we used general principles of data visualization and a co-design process to produce a clinical display tailored to a specific cognitive task, chosen from the anesthesia domain, but with clear generalizability to other clinical tasks. To support the work of the anesthesia-in-charge (AIC) our task was, for a given day, to depict the acuity level and complexity of each patient in the collection of those that will be operated on the following day. The AIC uses this information to optimally allocate anesthesia staff and providers across operating rooms. Methods We used a co-design process to collaborate with participants who work in the AIC role. We conducted two in-depth interviews with AICs and engaged them in subsequent input on iterative design solutions. Results Through a co-design process, we found (1) the need to carefully match the level of detail in the display to the level required by the clinical task, (2) the impedance caused by irrelevant information on the screen such as icons relevant only to other tasks, and (3) the desire for a specific but optional trajectory of increasingly detailed textual summaries. Conclusion This study reports a real-world clinical informatics development project that engaged users as co-designers. Our process led to the user-preferred design of a single binary flag to identify the subset of patients needing further investigation, and then a trajectory of increasingly detailed, text-based abstractions for each patient that can be displayed when more information is needed.

Mechanism Design and Kinematics Simulation of Massage Mechanical Arm

2011 ◽  
Vol 101-102 ◽  
pp. 279-282 ◽  
Author(s):  
Jun Xie ◽  
Jun Zhang ◽  
Jie Li
Keyword(s):  
Mechanism Design ◽  
Three Dimensional ◽  
Forward Kinematics ◽  
Kinematics Analysis ◽  
Dimensional Model ◽  
Three Dimensional Model ◽  
Kinematics Model ◽  
Kinematics Simulation ◽  
The Common ◽  
Executive Mechanism

Based on the characteristics and the common massage manipulations of Chinese medical massage, a practical series mechanical arm was presented to act the manipulations with the parallel executive mechanism. Forward kinematics was solved by the Denavit-Hartenberg transformation after the kinematics model of the arm was established. And the three-dimensional model of the arm was created by Pro/E and was imported into ADAMS for the kinematics analysis. The results indicated that the common massage manipulations could be simulated by the arm correctly and flexibly, and it verified the accuracy of the mechanism design of the arm.

A Remote Synthetic Testbed For Human-Robot Teaming: An Iterative Design Process

2021 ◽  
Vol 65 (1) ◽  
pp. 781-785
Author(s):  
Margaret Wong ◽  
Akudasuo Ezenyilimba ◽  
Alexandra Wolff ◽  
Tyrell Anderson ◽  
Erin Chiou ◽  
...  
Keyword(s):  
Design Process ◽  
Information Exchange ◽  
Task Environment ◽  
Research Administration ◽  
Urban Search And Rescue ◽  
Pilot Studies ◽  
Iterative Design ◽  
Hazardous Environments ◽  
User Friendly ◽  
Real Time Information

Urban Search and Rescue (USAR) missions often involve a need to complete tasks in hazardous environments. In such situations, human-robot teams (HRT) may be essential tools for future USAR missions. Transparency and explanation are two information exchange processes where transparency is real-time information exchange and explanation is not. For effective HRTs, certain levels of transparency and explanation must be met, but how can these modes of team communication be operationalized? During the COVID-19 pandemic, our approach to answering this question involved an iterative design process that factored in our research objectives as inputs and pilot studies with remote participants. Our final research testbed design resulted in converting an in-person task environment to a completely remote study and task environment. Changes to the study environment included: utilizing user-friendly video conferencing tools such as Zoom and a custom-built application for research administration tasks and improved modes of HRT communication that helped us avoid confounding our performance measures.

Developing Clinical Decision Support System for Sleep Staging Tasks by Formulating Explanations from Artificial Intelligence: User-Centered Design and Evaluation. (Preprint)

2021 ◽  
Author(s):  
Jeonghwan Hwang ◽  
Taeheon Lee ◽  
Honggu Lee ◽  
Seonjeong Byun
Keyword(s):  
Artificial Intelligence ◽  
Decision Support ◽  
Design Process ◽  
Clinical Decision Support ◽  
User Study ◽  
Clinical Decision ◽  
Sleep Staging ◽  
User Centered Design ◽  
Iterative Design ◽  
User Centered

BACKGROUND Despite the unprecedented performances of deep learning algorithms in clinical domains, full reviews of algorithmic predictions by human experts remain mandatory. Under these circumstances, artificial intelligence (AI) models are primarily designed as clinical decision support systems (CDSSs). However, from the perspective of clinical practitioners, the lack of clinical interpretability and user-centered interfaces block the adoption of these AI systems in practice. OBJECTIVE The aim of this study was to develop an AI-based CDSS for assisting polysomnographic technicians in reviewing AI-predicted sleep staging results. This study proposed and evaluated a CDSS that provides clinically sound explanations for AI predictions in a user-centered fashion. METHODS User needs for the system were identified during interviews with polysomnographic technicians. User observation sessions were conducted to understand the workflow of the practitioners during sleep scoring. Iterative design process was performed to ensure easy integration of the tool into clinical workflows. Then, we evaluated the system with polysomnographic technicians. We measured the improvements in sleep staging accuracies after adopting our tool and assessed qualitatively how the participants perceived and used the tool. RESULTS The user study revealed that technicians desire explanations relevant to key electroencephalogram (EEG) patterns for sleep staging when assessing the correctness of the AI predictions. Here, technicians could evaluate whether AI models properly locate and use those patterns during prediction. Based on this, information in AI models that is closely related to sleep EEG patterns was formulated and visualized during the iterative design process. Furthermore, we developed a different visualization strategy for each pattern based on the way the technicians interpreted the EEG recordings with these patterns during their workflows. Generally, the tool evaluation results from the nine polysomnographic technicians were positive. Quantitatively, technicians achieved better classification performances after reviewing the AI-generated predictions with the proposed system; classification accuracies measured with Macro-F1 scores improved from 60.20 to 62.71. Qualitatively, participants reported that the provided information from the tool effectively supported them, and they were able to develop notable adoption strategies for the tool. CONCLUSIONS Our findings indicate that formulating clinical explanations for automated predictions using the information in the AI with a user-centered design process is an effective strategy for developing a CDSS for sleep staging.

Comparison of Inverse Kinematics Algorithms for Multi-Section Continuum Robots

2021 ◽  
Vol 22 (8) ◽  
pp. 420-424
Author(s):  
D. Yu. Kolpashchikov ◽  
O. M. Gerget
Keyword(s):  
Inverse Kinematics ◽  
Complex Geometry ◽  
Forward Kinematics ◽  
Non Destructive Testing ◽  
Invasive Procedures ◽  
Destructive Testing ◽  
Continuum Robots ◽  
Unique Type ◽  
Non Destructive ◽  
Constant Section

Continuum robots are a unique type of robots that move due to the elastic deformation of their own body. Their flexible design allows them to bend at any point along their body, thus making them usable in workspaces with complex geometry and many obstacles. Continuum robots are used in industry for non-destructive testing and in medicine for minimally invasive procedures and examinations. The kinematics of continuum robots consisting of a single bending section are well known, as is the forward kinematics for multi-section continuum robots. There exist efficient algorithms for them. However, the problem of inverse kinematics for multi-section continuum robots is still relevant. The complexity of the inverse kinematics for multi-section continuum robots is quite high due to the nonlinearities of the robots’ motion. The article discusses in detail the modification of the FABRIK algorithm proposed by the authors, as well as a Jacobian-based iterative algorithm. A comparison of inverse kinematics algorithms for multi-section continuum robots with constant section length is given and the results of the experiment are described.

scholarly journals A design of stretcher with auxiliary functions of lateral positioning and transferring for immobilized patients

2021 ◽  
Vol 336 ◽  
pp. 02014
Author(s):  
Ying Xiong ◽  
Xuehua Tang ◽  
Congcong Shi ◽  
Yang Yang
Keyword(s):  
Inverse Kinematics ◽  
Forward Kinematics ◽  
Motion Simulation ◽  
Practical Application ◽  
Auxiliary Functions ◽  
Rigid Rods ◽  
Hospital Bed ◽  
Motion Process ◽  
Lateral Positioning ◽  
Position State

For now, many hospitals that require nurses to move patients by hand from stretchers to a hospital bed, so a design of stretcher with auxiliary functions of lateral positioning and transferring for immobilized patients, which is a mechanical mechanism consisted of rigid rods, joints and sliders, was designed to help the nurses to move patients between beds and reduce their workload. Driven by motors, the rigid rods can be rotated, stretched or shortened so that the entire stretcher bed board can archive to a proper posture and position. In this paper, the following objectives will be achieved: (i) Create a schematic of the mechanism and describe the principles and functions (ii) the calculation of inverse kinematics, forward kinematics, dynamics (including energy), and PD control in the mechanism (iii) The motion process of simulating the mechanism using MATLAB (iv) Using MATLAB to create the plots of angle, torque, and position state (v) Using SolidWorks to construct the prototype and to implement the motion simulation of the mechanism (vi) Describe the practical application and future Extensions of this mechanism.

Growing Artificial Transportation Systems: A Rule-Based Iterative Design Process

2011 ◽  
Vol 12 (2) ◽  
pp. 322-332 ◽  
Author(s):  
Jinyuan Li ◽  
Shuming Tang ◽  
Xiqin Wang ◽  
Wei Duan ◽  
Fei-Yue Wang
Keyword(s):  
Design Process ◽  
Transportation Systems ◽  
Rule Based ◽  
Iterative Design

scholarly journals A Quadruped Robot with the Wooden Body for Static Locomotion in a Controlled Environment

2020 ◽  
Author(s):  
Muhammad Bilal Khan
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Position Control ◽  
Low Cost ◽  
Control Design ◽  
Quadruped Robot ◽  
Legged Robots ◽  
Controlled Environment ◽  
Robot Design ◽  
Classroom Setting

We present the design and overall development of an eight degrees of freedom (DOF) based Bioinspired Quadruped Robot (BiQR). The robot is designed with a skeleton made of cedar wood. The wooden skeleton is based on exploring the potential of cedar wood to be a choice for legged robots’ design. With a total weight of 1.19 kg, the robot uses eight servo motors that run the position control. Relying on the inverse kinematics, the control design enables the robot to perform the walk gait-based locomotion in a controlled environment. The robot has two main aspects: 1) the initial wooden skeleton development of the robot showing it to be an acceptable choice for robot design, 2) the robot’s applicability as a low-cost legged platform to test the locomotion in a laboratory or a classroom setting.

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