Modular Self Reconfigurable Robotic Systems

2020 ◽  
Vol 12 (10) ◽  
pp. 1257-1260
Author(s):  
Nandini Kaushik ◽  
Vrinatri Velentina Boro ◽  
Manoj Soni ◽  
Pooja Bhati
Keyword(s):  
Robotic Systems ◽  
Changing Environment ◽  
Reconfigurable Robot ◽  
High Utility ◽  
Task Oriented

Modular Self-Reconfigurable robot (MSR) is a combinational system of independent and identical robotic modules. An MSR can further reconstitute itself out of the identical building units for adaptability to task-oriented functions and changing environment. An overview of the taxonomy related to the building of MSR modules has been discussed. Further, the high utility areas of the MSR robots have been considered. Then a study of the existing MSR robotic systems has been carried out. Lastly, control architectures of MSR modules and reconfiguration along with the further scope of advancement in the technological aspects have been discussed related to MSR.

Reconfigurable robot tool designs and integration applications

2003 ◽  
Vol 30 (4) ◽  
pp. 338-344 ◽  
Author(s):  
Paul G. Ranky
Keyword(s):  
General Purpose ◽  
Robotic Welding ◽  
Flexible Robot ◽  
General Terms ◽  
Machine Loading ◽  
Robot Wrist ◽  
Working Together ◽  
Reconfigurable Robot ◽  
End Effectors ◽  
Task Oriented

Robot tools, or in more general terms, end‐of‐arm tools, or robot end‐effectors are general purpose, programmable or task‐oriented devices connected between the robot wrist and the object or load to be manipulated and/or processed by the robot. They can offer and/or limit the versatility of grasping and/or processing of different components, sensing their characteristics and working together with the robot control system to provide a reliable “service” throughout the component manipulation cycle. Reconfigurable robot tooling enables the robot to rapidly change its end‐effectors or fingers of its end‐effectors, typically under programmable software control. The importance of providing lean‐flexibility by means of reconfigurable, automated robot hand changers (ARHC), particularly in small‐batch robotic welding, assembly, machine loading and in other flexible robot cells, is discussed with examples. Some known systems are demonstrated and the “Ranky‐type” ARHC design is illustrated in more detail.

Task-oriented motion planning for multi-arm robotic systems

2012 ◽  
Vol 28 (5) ◽  
pp. 569-582 ◽  
Author(s):  
F. Basile ◽  
F. Caccavale ◽  
P. Chiacchio ◽  
J. Coppola ◽  
C. Curatella
Keyword(s):  
Motion Planning ◽  
Robotic Systems ◽  
Task Oriented

A Robotic System with EMG-Triggered Functional Eletrical Stimulation for Restoring Arm Functions in Stroke Survivors

2021 ◽  
pp. 154596832199776
Author(s):  
Emilia Ambrosini ◽  
Giulio Gasperini ◽  
Johannes Zajc ◽  
Nancy Immick ◽  
Andreas Augsten ◽  
...  
Keyword(s):  
Quality Of Life ◽  
Electrical Stimulation ◽  
Functional Electrical Stimulation ◽  
Robotic Systems ◽  
Control Group ◽  
Significant Interaction Effect ◽  
Quality Of Life Scale ◽  
Task Oriented ◽  
Experimental Group

Background Robotic systems combined with Functional Electrical Stimulation (FES) showed promising results on upper-limb motor recovery after stroke, but adequately-sized randomized controlled trials (RCTs) are still missing. Objective To evaluate whether arm training supported by RETRAINER, a passive exoskeleton integrated with electromyograph-triggered functional electrical stimulation, is superior to advanced conventional therapy (ACT) of equal intensity in the recovery of arm functions, dexterity, strength, activities of daily living, and quality of life after stroke. Methods A single-blind RCT recruiting 72 patients was conducted. Patients, randomly allocated to 2 groups, were trained for 9 weeks, 3 times per week: the experimental group performed task-oriented exercises assisted by RETRAINER for 30 minutes plus ACT (60 minutes), whereas the control group performed only ACT (90 minutes). Patients were assessed before, soon after, and 1 month after the end of the intervention. Outcome measures were as follows: Action Research Arm Test (ARAT), Motricity Index, Motor Activity Log, Box and Blocks Test (BBT), Stroke Specific Quality of Life Scale (SSQoL), and Muscle Research Council. Results All outcomes but SSQoL significantly improved over time in both groups ( P < .001); a significant interaction effect in favor of the experimental group was found for ARAT and BBT. ARAT showed a between-group change of 11.5 points ( P = .010) at the end of the intervention, which increased to 13.6 points 1 month after. Patients considered RETRAINER moderately usable (System Usability Score of 61.5 ± 22.8). Conclusions Hybrid robotic systems, allowing to perform personalized, intensive, and task-oriented training, with an enriched sensory feedback, was superior to ACT in improving arm functions and dexterity after stroke.

scholarly journals A dataset of daily interactive manipulation

2019 ◽  
Vol 38 (8) ◽  
pp. 879-886 ◽  
Author(s):  
Yongqiang Huang ◽  
Yu Sun
Keyword(s):  
Changing Environment ◽  
Daily Task ◽  
Interactive Manipulation ◽  
Task Oriented

Robots that succeed in factories may struggle to complete even the simplest daily task that humans take for granted, because the change of environment makes the task exceedingly difficult. Aiming to teach robots to perform daily interactive manipulation in a changing environment using human demonstrations, we collected our own data of interactive manipulation. The dataset focuses on the position, orientation, force, and torque of objects manipulated in daily tasks. The dataset includes 1,603 trials of 32 types of daily motions and 1,596 trials of pouring alone, as well as helper code. We present our dataset to facilitate the research on task-oriented interactive manipulation.

A Parallel Reconfigurable Robot with Six Degrees of Freedom

2012 ◽  
Vol 162 ◽  
pp. 204-213 ◽  
Author(s):  
Calin Vaida ◽  
Nicolae Plitea ◽  
Dorin Lese ◽  
Doina Liana Pisla
Keyword(s):  
Degrees Of Freedom ◽  
Robotic Systems ◽  
Manufacturing Costs ◽  
Six Degrees Of Freedom ◽  
Reachable Workspace ◽  
Development Times ◽  
New Type ◽  
Reconfigurable Robot ◽  
6 Degrees Of Freedom ◽  
Workspace Representation

Shorter development times, wide variety of products and manufacturing costs optimization lead towards the development of a new type of robots that are more flexible and adaptable to all these changes. The idea of reconfiguration is thus born, many studies being focused on enlarging and improving this concept. Reconfigurable robotic systems are those that can change their geometry, their mobility degree and be default, their workspace and their applicability. This paper presents a 6 degrees of freedom (DOF) reconfigurable robot, entitled RECROB, its kinematics and possible reconfigurations with different DOFs. Based on the analysis of structure two possible configurations are identified, one of them being modeled and simulated. The paper ends with the reachable workspace representation, conclusions and applicability of such a robot.

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