Improved Surgical Robot Design Using a Novel Compliant Rolling-Contact Joint

2019 ◽  
Author(s):  
Carl A. Nelson ◽  
Cole A. Dempsey ◽  
Ethan R. Brush ◽  
M. Amine Laribi
Keyword(s):  
Human Robot Interaction ◽  
Rolling Contact ◽  
Surgical Robot ◽  
Excessive Force ◽  
Robot Interaction ◽  
Rolling Element ◽  
Spherical Wrist ◽  
Improved Design ◽  
Safety Features ◽  
And Control

Abstract This paper presents an improved design concept for a surgical robot that contributes to improved human-robot interaction and precise positioning of surgical tools. Based on a spherical wrist design, the robot incorporates new human-safe features limiting its ability to apply excessive force and uses a novel adaptation of the compliant rolling-element (CORE) joint suitable for conical rolling surfaces. The proposed safety features aim to provide novel functionality by mechanically disengaging the drive in overload conditions. This approach avoids the necessity of force sensing and control to detect and compensate for unintended device collisions. Further, proof of concept of a novel compliant rolling-element joint is presented as a low-backlash alternative to bevel gear pairs for heightened precision in angular positioning.

scholarly journals A Brief Review of Neural Networks Based Learning and Control and Their Applications for Robots

Complexity ◽  
2017 ◽  
Vol 2017 ◽  
pp. 1-14 ◽  
Author(s):  
Yiming Jiang ◽  
Chenguang Yang ◽  
Jing Na ◽  
Guang Li ◽  
Yanan Li ◽  
...  
Keyword(s):  
Neural Networks ◽  
Nonlinear Systems ◽  
Human Robot Interaction ◽  
Learning Tools ◽  
Robot Interaction ◽  
Practical Applications ◽  
Powerful Learning ◽  
Wide Range ◽  
Complex Nonlinear Systems ◽  
And Control

As an imitation of the biological nervous systems, neural networks (NNs), which have been characterized as powerful learning tools, are employed in a wide range of applications, such as control of complex nonlinear systems, optimization, system identification, and patterns recognition. This article aims to bring a brief review of the state-of-the-art NNs for the complex nonlinear systems by summarizing recent progress of NNs in both theory and practical applications. Specifically, this survey also reviews a number of NN based robot control algorithms, including NN based manipulator control, NN based human-robot interaction, and NN based cognitive control.

GAIT GENERATION AND OPTIMIZATION USING THE ESTIMATION OF DISTRIBUTION ALGORITHM FOR TEENSIZE HUMANOID SOCCER ROBOT RESr-1

2008 ◽  
Vol 05 (03) ◽  
pp. 437-456 ◽  
Author(s):  
LINGYUN HU ◽  
CHANGJIU ZHOU
Keyword(s):  
Hierarchical Control ◽  
Estimation Of Distribution Algorithm ◽  
Human Robot Interaction ◽  
Cooperative Research ◽  
Soccer Robot ◽  
Robot Interaction ◽  
Planning And Control ◽  
Hierarchical Control Architecture ◽  
Estimation Of Distribution ◽  
And Control

This paper gives an overview of locomotion planning and control of a TeenSize humanoid soccer robot, Robo-Erectus Senior (RESr-1), which has been developed as an experimental platform for human–robot interaction and cooperative research in general and robotics soccer games in particular. The locomotion planning and control, along with an introduction of hierarchical control architecture, vision-based behavior and its application in the Humanoid TeenSize soccer challenge, are elaborated. The Estimation of Distribution Algorithm (EDA) is used in locomotion generation and optimization to achieves dynamically stable walk and a powerful kick. By setting different objective functions, smooth walking and powerful kicking can be generated quickly. RESr-1 made its debut at RoboCup 2007, and got fourth place in the Humanoid TeenSize penalty kick competition. In addition, some experimental results on RESr-1's walking, tracking and kicking are presented.

scholarly journals A simulated risk assessment of human-robot interaction in the domestic environment

2020 ◽  
Vol 9 (4) ◽  
pp. 300
Author(s):  
Tamanna E Kaonain ◽  
Mohd Azizi Abdul Rahman ◽  
Mohd Hatta Mohammed Ariff ◽  
Kuheli Mondal
Keyword(s):  
Simulation Software ◽  
Human Robot Interaction ◽  
Complex Environments ◽  
Robot Interaction ◽  
Domestic Environment ◽  
Robot Controller ◽  
Planning And Control ◽  
Python Language ◽  
Real Robot ◽  
And Control

In human-robot interaction, the use of collaborative robots or cobots in many industries is of major importance to researchers in human-robot interaction (HRI). The interaction between human robot carries several challenges, the greatest being the risk of human injury. In addition to reducing the proximity between robots and humans, increased difficulty of human-robot encounters raises the likelihood of accidents only. This paper proposes a virtual collaborative robot in the simulated non-industrial workspace. The safety during human-robot interaction using simulation software was investigated by measuring the risks for planning and control. A reactive robot controller was formulated to minimize the risk during human-robot interaction. A Gazebo software is used in this article, written in Python language, to replicate complex environments that a robot can face. This paper also investigated the robot’s speed. It can be reduced before a collision with a human about to happen, and it minimized the risk of the collision or reduced the damage of the risk. After the successful simulation, this can be applied to the real robot in a practical domestic environment.

Identification and Control of Hysteresis in Rolling Element Guideways

2005 ◽  
Author(s):  
F. Al-Bender ◽  
W. Symens
Keyword(s):  
Effective Control ◽  
Design Parameters ◽  
Systematic Analysis ◽  
Control Structures ◽  
Frictional Characteristic ◽  
Rolling Element ◽  
Harmonic Analysis Method ◽  
Improved Design ◽  
Stiffness And Damping ◽  
And Control

Rate independent hysteresis seems to be the dominant frictional characteristic found in many machine elements in common engineering use, such as plain and rolling element guideways. The study of the non-linear dynamics caused by such elements becomes imperative if we wish to achieve improved design and, in particular, effective control of such machines. This paper reviews systematic analysis, which we have carried out to characterize the dynamics of rolling element guideways. The dependency of hysteresis characteristics on the bearing design parameters is first investigated and the notion of ‘equivalent’ dynamic quantities, namely stiffness and damping, is introduced. Secondly, a frequency domain, harmonic analysis method for mass-“hysteresis spring” systems, via application of the Describing Function method, is developed and discussed. We checked the validity and applicability of this approach by direct numerical simulation as well as by experiment. The results showed that the (amplitude dependent) Frequency Response Maps invariably contain an “anomalous” region where the response is very sensitive to systems parameter variations. This manifests itself in practice in jump-like phenomena, which thus appear to be inherent features of this type of system. Finally, appropriate control structures for systems with this type of hysteresis elements are proposed and discussed.

CADDY—Cognitive Autonomous Diving Buddy: Two Years of Underwater Human-Robot Interaction

2016 ◽  
Vol 50 (4) ◽  
pp. 54-66 ◽  
Author(s):  
Nikola Mišković ◽  
Marco Bibuli ◽  
Andreas Birk ◽  
Massimo Caccia ◽  
Murat Egi ◽  
...  
Keyword(s):  
Motor Skills ◽  
Pose Estimation ◽  
Cooperative Control ◽  
Underwater Vehicles ◽  
Human Robot Interaction ◽  
Research Topics ◽  
Robot Interaction ◽  
Main Research ◽  
Robot Cooperation ◽  
And Control

AbstractDivers operate in harsh and poorly monitored environments, in which the slightest unexpected disturbance, technical malfunction, or lack of attention can have catastrophic consequences. Motivated by these considerations, the “CADDY—Cognitive Autonomous Diving Buddy” FP7 project sets forth the main goal of developing a cooperative autonomous underwater robotic system to monitor and assist human divers, thus affording them increased levels of safety during the execution of challenging scientific and commercial missions. This article presents the main results obtained in the first 2 years of the project along the following main research topics: Seeing the Diver, where the focus is placed on the 3D reconstruction of a diver's model (pose estimation and recognition of hand gestures) through remote and local sensing technologies, thus enabling behavior interpretation; Understanding the Diver, with the objective of interpreting the model and physiological measurements of the diver in order to determine the state of the diver; and Diver-Robot Cooperation and Control, aimed at investigating the interaction of the diver with underwater vehicles endowed with rich sensory motor skills, focusing on cooperative control and optimal formation with the diver as an integral part of the overall vehicle-diver formation.

scholarly journals Fusing Hand Postures and Speech Recognition for Tasks Performed by an Integrated Leg–Arm Hexapod Robot

2020 ◽  
Vol 10 (19) ◽  
pp. 6995
Author(s):  
Jing Qi ◽  
Xilun Ding ◽  
Weiwei Li ◽  
Zhonghua Han ◽  
Kun Xu
Keyword(s):  
Speech Recognition ◽  
Human Robot Interaction ◽  
Area Network ◽  
Hand Posture ◽  
Hexapod Robot ◽  
Wide Area Network ◽  
Robot Interaction ◽  
Localization And Mapping ◽  
And Control ◽  
Slot Structure

Hand postures and speech are convenient means of communication for humans and can be used in human–robot interaction. Based on structural and functional characteristics of our integrated leg-arm hexapod robot, to perform reconnaissance and rescue tasks in public security application, a method of linkage of movement and manipulation of robots is proposed based on the visual and auditory channels, and a system based on hand postures and speech recognition is described. The developed system contains: a speech module, hand posture module, fusion module, mechanical structure module, control module, path planning module and a 3D SLAM (Simultaneous Localization and Mapping) module. In this system, three modes, i.e., the hand posture mode, speech mode, and a combination of the hand posture and speech modes, are used in different situations. The hand posture mode is used for reconnaissance tasks, and the speech mode is used to query the path and control the movement and manipulation of the robot. The combination of the two modes can be used to avoid ambiguity during interaction. A semantic understanding-based task slot structure is developed by using the visual and auditory channels. In addition, a method of task planning based on answer-set programming is developed, and a system of network-based data interaction is designed to control movements of the robot using Chinese instructions remotely based on a wide area network. Experiments were carried out to verify the performance of the proposed system.

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