scholarly journals Functional Evaluation of Asibot: A New Approach on Portable Robotic System for Disabled People

2012 ◽  
Vol 9 (1) ◽  
pp. 85-97 ◽  
Author(s):  
Alberto Jardón ◽  
Concepción A. Monje ◽  
Carlos Balaguer
Keyword(s):  
Control System ◽  
Degrees Of Freedom ◽  
The Elderly ◽  
Robotic Arm ◽  
Functional Evaluation ◽  
Light Weight ◽  
Disabled People ◽  
New Approach ◽  
Human Care ◽  
Different Levels

In this work, an innovative robotic solution for human care and assistance is presented. Our main objective is to develop a new concept of portable robot able to support the elderly and those people with different levels of disability during the execution of daily tasks, such as washing their face or hands, brushing their teeth, combing their hair, eating, drinking, and bringing objects closer, among others. Our prototype, ASIBOT, is a five degrees of freedom (DOF) self-contained manipulator that includes the control system and electronic equipment on board. The main advantages of the robot are its light weight, about 11 kg for a 1.3 m reach, its autonomy, and its ability to move between different points (docking stations) of the room or from the environment to a wheelchair and vice versa, which facilitates its supportive functions. The functional evaluation of ASIBOT is addressed in this paper. For this purpose the robotic arm is tested in different experiments with disabled people, gathering and discussing the results according to a methodology that allows us to assess users' satisfaction.

Model Validation of an Octopus Inspired Continuum Robotic Arm for Use in Underwater Environments

2013 ◽  
Vol 5 (2) ◽  
Author(s):  
Tianjiang Zheng ◽  
David T. Branson ◽  
Emanuele Guglielmino ◽  
Rongjie Kang ◽  
Gustavo A. Medrano Cerda ◽  
...  
Keyword(s):  
Dynamic Model ◽  
Model Validation ◽  
Degrees Of Freedom ◽  
Robotic Arm ◽  
Octopus Vulgaris ◽  
Light Weight ◽  
Continuum Robots ◽  
Continuum Structure ◽  
External Forces ◽  
Good Agreement

Octopuses are an example of dexterous animals found in nature. Their arms are flexible, can vary in stiffness, grasp objects, apply high forces with respect to their relatively light weight, and bend in all directions. Robotic structures inspired by octopus arms have to undertake the challenges of a high number of degrees of freedom (DOF), coupled with highly flexible continuum structure. This paper presents a kinematic and dynamic model for underwater continuum robots inspired by Octopus vulgaris. Mass, damping, stiffness, and external forces such as gravity, buoyancy, and hydrodynamic forces are considered in the dynamic model. A continuum arm prototype was built utilizing longitudinal and radial actuators, and comparisons between the simulated and experimental results show good agreement.

BRACON: Control system for a robotic arm with 6 degrees of freedom for education systems

2015 ◽  
Author(s):  
David Rivas ◽  
Marcelo Alvarez ◽  
Patricio Velasco ◽  
Javier Mamarandi ◽  
Jose Luis Carrillo-Medina ◽  
...  
Keyword(s):  
Control System ◽  
Degrees Of Freedom ◽  
Robotic Arm ◽  
Education Systems ◽  
6 Degrees Of Freedom

ON COMPARATIVE ANALYSIS OF PERFORMANCE OPTIMIZATION METHODS OF MULTI-PUMP UNITS

2020 ◽  
pp. 23-28
Author(s):  
A.I. Glushchenko ◽  
M.Yu. Serov
Keyword(s):  
Energy Efficiency ◽  
Control System ◽  
Comparative Analysis ◽  
Performance Optimization ◽  
Optimization Methods ◽  
Online Optimization ◽  
New Approach ◽  
Advantages And Disadvantages ◽  
Analysis Of Performance

В статье рассматривается вопрос совершенствования системы управления параллельно-работающими насосными агрегатами с целью повышения энергоэффективности их работы. Проведено сравнение и выявление недостатков существующих методов решения рассматриваемой проблемы. Предложена идея нового подхода на базе онлайн оптимизации. The problem under consideration is improvement of the energy efficiency of a control system of parallel-running pump units. Known methods used to solve this problem are considered. Their advantages and disadvantages are shown. Finally, the idea of a new approach, which is based on online optimization, is proposed.

The Development of a Myoelectric Training Tool for Above-Elbow Amputees

2012 ◽  
Vol 6 (1) ◽  
pp. 5-15 ◽  
Author(s):  
Michael R Dawson ◽  
Farbod Fahimi ◽  
Jason P Carey
Keyword(s):  
Degrees Of Freedom ◽  
Learning Task ◽  
Robotic Arm ◽  
Signal Acquisition ◽  
Myoelectric Prosthesis ◽  
Training Tool ◽  
Myoelectric Prostheses ◽  
Training Systems ◽  
Targeted Muscle Reinnervation

The objective of above-elbow myoelectric prostheses is to reestablish the functionality of missing limbs and increase the quality of life of amputees. By using electromyography (EMG) electrodes attached to the surface of the skin, amputees are able to control motors in myoelectric prostheses by voluntarily contracting the muscles of their residual limb. This work describes the development of an inexpensive myoelectric training tool (MTT) designed to help upper limb amputees learn how to use myoelectric technology in advance of receiving their actual myoelectric prosthesis. The training tool consists of a physical and simulated robotic arm, signal acquisition hardware, controller software, and a graphical user interface. The MTT improves over earlier training systems by allowing a targeted muscle reinnervation (TMR) patient to control up to two degrees of freedom simultaneously. The training tool has also been designed to function as a research prototype for novel myoelectric controllers. A preliminary experiment was performed in order to evaluate the effectiveness of the MTT as a learning tool and to identify any issues with the system. Five able-bodied participants performed a motor-learning task using the EMG controlled robotic arm with the goal of moving five balls from one box to another as quickly as possible. The results indicate that the subjects improved their skill in myoelectric control over the course of the trials. A usability survey was administered to the subjects after their trials. Results from the survey showed that the shoulder degree of freedom was the most difficult to control.

A new simpler approach to measure the strength of toe plantar flexion requiring no mechanical restraint with a light-weight device

2021 ◽  
pp. 095441192110029
Author(s):  
Yuko Komuro ◽  
Yuji Ohta
Keyword(s):  
Plantar Flexion ◽  
Mean Value ◽  
Simple Approach ◽  
Light Weight ◽  
New Approach ◽  
Mean Values ◽  
Mechanical Restraint ◽  
Significant Difference ◽  
Ankle Joints ◽  
The Mean

Conventionally, the strength of toe plantar flexion (STPF) is measured in a seated position, in which not only the target toe joints but also the knee and particularly ankle joints, are usually restrained. We have developed an approach for the measurement of STPF which does not involve restraint and considers the interactions of adjacent joints of the lower extremities. This study aimed to evaluate this new approach and comparing with the seated approach. A thin, light-weight, rigid plate was attached to the sole of the foot in order to immobilize the toe area. Participants were 13 healthy young women (mean age: 24 ± 4 years). For measurement of STPF with the new approach, participants were instructed to stand, raise the device-wearing leg slightly, plantar flex the ankle, and push the sensor sheet with the toes to exert STPF. The sensor sheet of the F-scan II system was inserted between the foot sole and the plate. For measurement with the seated approach, participants were instructed to sit and push the sensor with the toes. They were required to maintain the hip, knee, and ankle joints at 90°. The mean values of maximum STPF of the 13 participants obtained with each approach were compared. There was no significant difference in mean value of maximum STPF when the two approaches were compared (new: 59 ± 23 N, seated: 47 ± 33 N). The coefficient of variation of maximum STPF was smaller for data obtained with the new approach (new: 39%, seated: 70%). Our simple approach enables measurement of STPF without the need for the restraints that are required for the conventional seated approach. These results suggest that the new approach is a valid method for measurement of STPF.

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.

scholarly journals Collective Losses of Low Power Cage Induction Motors—A New Approach

Energies ◽  
2021 ◽  
Vol 14 (6) ◽  
pp. 1749
Author(s):  
Elzbieta Szychta ◽  
Leszek Szychta
Keyword(s):  
Control System ◽  
Experimental Studies ◽  
Complex Problem ◽  
Accurate Estimation ◽  
New Approach ◽  
Water Pumping ◽  
Efficiency Control ◽  
Interacting Systems ◽  
Cage Induction Motor ◽  
Selection Of

Energy efficiency of systems of water pumping is a complex problem since efficiency of two distinct interacting systems needs to be combined: water and power supply. This paper introduces a non-intrusive method of calculating the so-called “collective losses” of a cage induction motor. The term “collective losses”, which the authors define, allows for accurate estimation of motor efficiency. Control system of a pump determines operating point of a pumping station, and thus its efficiency. General estimated performance characteristics of a motor, components of a control system, are assumed to serve selection of a range of pumping speed variations. Rotational speed has a direct effect on motor load torque, pump power and head, and thus on motor performance. Hellwig’s statistical method was used to specify characteristics of estimated collective losses on the basis of experimental studies of 21 motors rated at up to 2.2 kW. The results of simulations and experiments are used to verify validity and efficiency of the suggested method. The method is non-intrusive, simple to use, and requires minimum data.

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