scholarly journals Research on Real-Time Joint Stiffness Configuration of a Series Parallel Hybrid 7-DOF Humanoid Manipulator in Continuous Motion

2021 ◽  
Vol 11 (5) ◽  
pp. 2433
Author(s):  
Yang Yu ◽  
Shimin Wei ◽  
Haiyan Sheng ◽  
Yingkun Zhang
Keyword(s):  
Real Time ◽  
Human Body ◽  
Joint Stiffness ◽  
Joint Space ◽  
Flexible Joints ◽  
Continuous Motion ◽  
The Real ◽  
Cartesian Space ◽  
Parallel Hybrid ◽  
The Relationship

In this paper, the real-time joint stiffness configuration strategy of a series parallel hybrid 7-DOF (degree of freedom) humanoid manipulator with flexible joints in continuous motion is studied. Firstly, considering the potential human robot accidental collision, combined with the manipulator safety index (MSI) and human body injury thresholds, the motion speed and joint stiffness of the robot are optimized in advance. Secondly, using hyperbolic tangent function for reference, the relationship between joint torques and passive joint deflection angles of the robot is given, which is beneficial for the real-time calculation of joint stiffness and obtain reasonable joint stiffness. Then, the structural model of the selected humanoid manipulator is described, on this basis, the relationship between the joint space stiffness and the Cartesian space stiffness of the humanoid manipulator is analyzed through Jacobian matrix, and the results show that the posture and joint space stiffness of the humanoid manipulator directly affect the Cartesian space stiffness of the humanoid manipulator. Finally, according to whether the humanoid manipulator works in the human-robot interaction environment, the real-time joint stiffness configuration of the humanoid manipulator in continuous motion is simulated and analyzed. The research shows that the humanoid manipulator with flexible joints can adjust the joint stiffness in real-time during continuous motion, and the joint stiffness configuration strategy can effectively improve the safety of human body in human-robot collision. In addition, in application, when the joint space stiffness of the robot is lower, the position accuracy can be improved by trajectory compensation.

scholarly journals Adaptive Model for Biofeedback Data Flows Management in the Design of Interactive Immersive Environments

2021 ◽  
Vol 11 (11) ◽  
pp. 5067
Author(s):  
Paulo Veloso Gomes ◽  
António Marques ◽  
João Donga ◽  
Catarina Sá ◽  
António Correia ◽  
...  
Keyword(s):  
Real Time ◽  
Emotional State ◽  
Adaptive Model ◽  
Multimodal Data ◽  
The Real ◽  
Time Interaction ◽  
Data Flows ◽  
Immersive Systems ◽  
Immersive Environment ◽  
The Relationship

The interactivity of an immersive environment comes up from the relationship that is established between the user and the system. This relationship results in a set of data exchanges between human and technological actors. The real-time biofeedback devices allow to collect in real time the biodata generated by the user during the exhibition. The analysis, processing and conversion of these biodata into multimodal data allows to relate the stimuli with the emotions they trigger. This work describes an adaptive model for biofeedback data flows management used in the design of interactive immersive systems. The use of an affective algorithm allows to identify the types of emotions felt by the user and the respective intensities. The mapping between stimuli and emotions creates a set of biodata that can be used as elements of interaction that will readjust the stimuli generated by the system. The real-time interaction generated by the evolution of the user’s emotional state and the stimuli generated by the system allows him to adapt attitudes and behaviors to the situations he faces.

Detection of Human Body Motion Based on Electrostatic Measurements in the Indoor Environment

2011 ◽  
Vol 480-481 ◽  
pp. 1329-1334
Author(s):  
Wei Zheng ◽  
Zhan Zhong Cui
Keyword(s):  
Theoretical Analysis ◽  
Real Time ◽  
Human Body ◽  
Motion Detection ◽  
Average Velocity ◽  
Indoor Environment ◽  
Detection Method ◽  
Body Motion ◽  
The Real ◽  
Multiple Electrodes

An effective non-contact electrostatic detection method is used for human body motion detection. Theoretical analysis and pratical experiments are carried out to prove that this method is effective in the field of human body monitoring, in which a model for human body induced potential by stepping has been proposed. Furthermore, experiment results also prove that it’s feasible to measure the average velocity and route of human body motion by multiple electrodes array. What’s more the real-time velocity and direction of human body motion can be determined by orthogonal electrostatic detector array, and the real-time velocity and direction of human body motion can be obtained within the range of 2 meters.

The Relationship between Regular Sinusoidal Waves in the Tissue at Lung-related Acupuncture Points and the Respiration Pacesetter Mechanism

2019 ◽  
Author(s):  
Fletcher Kovich
Keyword(s):  
Real Time ◽  
Respiration Rate ◽  
Heart Beat ◽  
Slow Waves ◽  
The Other ◽  
Acupuncture Points ◽  
Post Exercise ◽  
The Real ◽  
The Relationship

Background: While investigating the real-time impedance at acupuncture points (acupoints), it was found that regular sinusoidal waves were present that corresponded to the pulsing of certain organs, such as respiration and duodenal waves, the stomach’s slow waves, and also the heart’s beating.Methods: This study investigated such respiration waves at lung-related acupoints to clarify their relation to the respiration pacesetter mechanism. The impedance at key acupoints was monitored in real time while the patients’ breathing slowed after exercise.Results: In all 7 patients studied, the respiration and heart-beat waves matched the rates in the corresponding organs at rest, and did not vary markedly due to exercise. In 3 of the 7 patients, their post-exercise respiration rate exactly matched that of their duodenal waves, but then dropped, stepwise, back to their usual respiration rate. In the other 4 patients, their post-exercise respiration rate did not reach that of their duodenal waves, so this pattern was not triggered.Conclusion: The results suggested that as well as the brainstem respiration pacesetter, there was also a separate “pace signal” present which remained constant and seemed to define the respiration rate when at rest. It is currently unknown what mechanism causes the respiration rate to increase due to exercise. But these results suggest that the brainstem pacesetter is sometimes guided by the duodenal pace signal instead of the lung pace signal, which may explain how the pacesetter is able to jump to a higher rate, even though its chemoreceptor inputs may be unchanged.

scholarly journals Kinematic analysis of a newly designed cable-driven manipulator

2018 ◽  
Vol 42 (2) ◽  
pp. 125-135 ◽  
Author(s):  
Wei Xu ◽  
Yaoyao Wang ◽  
Surong Jiang ◽  
Jiafeng Yao ◽  
Bai Chen
Keyword(s):  
Trajectory Planning ◽  
Kinematic Analysis ◽  
Joint Space ◽  
Joint Angles ◽  
Coupled Motion ◽  
Cartesian Space ◽  
The Impact ◽  
The Relationship

In this paper, the cable routing configurations for a cable-driven manipulator are introduced, and the impact of motion coupling caused by cable transmission routing of a 2n type cable-driven manipulator is analyzed in detail. Based on different configurations of cable routings, the relationship between variation of joint angles and the geometrical sizes of guide pulleys is established, represented by a matrix for coupled motion. Moreover, based on the effects of the motion coupling of a cable-driven manipulator, we propose the condition for the invariance of orientation, which can be achieved constraining of the geometrical sizes of guide pulleys and driven wheels. In addition, to identify the correctness of analysis for coupled motion, a 3-DOFs planer cable-driven manipulator prototyping model is constructed, and the kinematics and trajectory planning has been solved. Finally, the relationship among actuator space, joint space, and Cartesian space, including the mapping of the motion coupling, is experimentally validated. The property of invariance of orientation is also validated by an experiment.

scholarly journals The Manipulation of Real-Time Kinect-Based Robotic Arm Using Double-Hand Gestures

2020 ◽  
Vol 2020 ◽  
pp. 1-9
Author(s):  
Chern-Sheng Lin ◽  
Pei-Chi Chen ◽  
Yu-Ching Pan ◽  
Che-Ming Chang ◽  
Kuo-Liang Huang
Keyword(s):  
Real Time ◽  
Human Body ◽  
Relevant Information ◽  
Robotic Arm ◽  
Depth Sensor ◽  
Hand Gestures ◽  
The Real ◽  
Left Hand ◽  
Right Hand ◽  
The Right

This study focused on utilizing the Kinect depth sensor to track double-hand gestures and control a real-time robotic arm. The control system is mainly composed of the microprocessor, a color camera, the depth sensor, and the robotic arm. The Kinect depth sensor was used to take photos of the human body to analyze the skeleton of a human body and obtain the relevant information. Such information was used to identify the gestures of the left hand and the left palm of the user. The gesture of left hand was used as an input command device. The gesture of the right hand was used for imitation movement teaching of robotic arm. From the depth sensor, the real-time images of the human body and the deep information of each joint were collected and converted to the relative positions of the robotic arm. Combining forward kinematics and inverse kinematics and D-H link, the gesture information of the right hand was calculated, which was converted via coordinates into each angle of the motor of the robotic arm. From the color camera, when the left palm was not detected, the user could simply use the right hand to control the action and movement of the real-time robotic arm. When the left palm was detected and 5 fingertips were identified, it meant the start of recording the real-time imitation movement of the robotic arm by the right hand. When 0 fingertip was identified, it meant the stoppage of the above recording. When 2 fingertips were identified, the user could not only control the real-time robotic arm but also repeat the recorded actions.

scholarly journals Quintic Pythagorean-Hodograph Curves Based Trajectory Planning for Delta Robot with a Prescribed Geometrical Constraint

2019 ◽  
Vol 9 (21) ◽  
pp. 4491 ◽  
Author(s):  
Xu Liang ◽  
Tingting Su
Keyword(s):  
Real Time ◽  
Trajectory Planning ◽  
Joint Space ◽  
Geometrical Constraint ◽  
Planning Approach ◽  
Pythagorean Hodograph ◽  
Delta Robot ◽  
Parameter Dependent ◽  
Ph Curve ◽  
The Relationship

A new trajectory planning approach on the basis of the quintic Pythagorean–Hodograph (PH) curve is presented and applied to Delta robot for implementing pick-and-place operation (PPO). To satisfy a prescribed geometrical constraint, which indicates the distance between the transition segment curve and right angle of PPO trajectory is no greater than a prescribed value, the quintic PH curve is used to produce a connection segment path for collision avoidance. The relationship between the PH curve and constraint is analyzed, based on which PH curve is calculated simply. Afterwards, the trajectory is planned in different phases with different motion laws, i.e. polynomial motion laws and PH curve parameter-dependent motion laws, to obtain a smooth performance both in Cartesian and joint space. The relationship between the PH curve and constraint is also used to improve the efficiency of calculation, and the trajectory symmetry is used to reduce calculation time by direct symmetric transformation. Thus, real-time performance is improved. The results of simulations and experiments indicate that the approach in this paper can provide smooth motion and meet the real-time requirement under the prescribed geometrical constraint.

An Improvement Measure to Human Body Detection Based on Kinect Using Integral Images

2012 ◽  
Vol 263-266 ◽  
pp. 2619-2622
Author(s):  
Jianpin Han ◽  
Bo Ting Geng ◽  
Tian Tan
Keyword(s):  
Real Time ◽  
Human Body ◽  
Intelligent System ◽  
Detection Performance ◽  
Crucial Issue ◽  
The Real ◽  
Improvement Measure ◽  
Detection Window ◽  
Integral Images ◽  
Real Time Detection

Human body detection of intelligent system is an important and crucial issue, and this work has been studied for many years. Luciano Spinello achieved the real-time detection performance of human body based on Kinect with the help of GPU to accelerate to computation of features .But when its algorithm is realized in CPU, it can’t still achieve the real-time detection performance. This paper put forword a improvement measure to accelerate the computation of features. Features can be rapidly calculated by integral images, which was proposed by Qiang Zhu to detect object rapidly in 2001, abandoning the previous procession of using three line interpolation and Gauss filter, the improved algorithm, in CPU 3.10Ghz, RAM 2.85GB, 640*480 detection window, can achieve the average detection rate of 40 FPS. Performance gets promotion greatly.

scholarly journals Toward an Electronic Ephemera: Exploring Architectural Atmosphere in Real-time Virtual Engines

2021 ◽  
Author(s):  
◽  
Eliot Blenkarne
Keyword(s):  
Real Time ◽  
Design Process ◽  
Virtual Space ◽  
Design Decisions ◽  
The Real ◽  
Iterative Design ◽  
Architectural Representation ◽  
Final Output ◽  
The Relationship

<p>Architectural visualisation is often viewed with a degree of hesitancy by the architectural profession, for a perceived lack of criticality in the methods and outputs – particularly with the rise of hyper-real still imagery production. However, photography too suffers from a certain disconnect from an authentic experience of space, which we experience through our moving within it, our sensory gamut stimulated by the atmosphere memorable architecture possesses. This atmosphere is a holistic assemblage of design decisions made by the building designer, connected to mass, light, materiality, sound, among others. The field of gaming has been able to deploy many of these characteristics in virtual space for decades in some manner, and the tools used have been refined to the point where they are technically, and fiscally accessible to architecture.  This thesis proposes that real-time virtual engines, as used by game designers, can extend the field of architectural representation and design, by better conveying a sense of architectural atmosphere and providing increased immersion in virtual space compared to traditional techniques. It first seeks to define what architectural atmosphere may be recognised as, and how it may be caused to manifest, and then applies these findings to virtual space as a means to test the relationship between the real and unreal. Further to this, it applies this methodology to an iterative design process of both an architectural and virtual nature, with a final output that demonstrates the result of both concurrently.</p>

scholarly journals Toward an Electronic Ephemera: Exploring Architectural Atmosphere in Real-time Virtual Engines

2021 ◽  
Author(s):  
◽  
Eliot Blenkarne
Keyword(s):  
Real Time ◽  
Design Process ◽  
Virtual Space ◽  
Design Decisions ◽  
The Real ◽  
Iterative Design ◽  
Architectural Representation ◽  
Final Output ◽  
The Relationship

<p>Architectural visualisation is often viewed with a degree of hesitancy by the architectural profession, for a perceived lack of criticality in the methods and outputs – particularly with the rise of hyper-real still imagery production. However, photography too suffers from a certain disconnect from an authentic experience of space, which we experience through our moving within it, our sensory gamut stimulated by the atmosphere memorable architecture possesses. This atmosphere is a holistic assemblage of design decisions made by the building designer, connected to mass, light, materiality, sound, among others. The field of gaming has been able to deploy many of these characteristics in virtual space for decades in some manner, and the tools used have been refined to the point where they are technically, and fiscally accessible to architecture.  This thesis proposes that real-time virtual engines, as used by game designers, can extend the field of architectural representation and design, by better conveying a sense of architectural atmosphere and providing increased immersion in virtual space compared to traditional techniques. It first seeks to define what architectural atmosphere may be recognised as, and how it may be caused to manifest, and then applies these findings to virtual space as a means to test the relationship between the real and unreal. Further to this, it applies this methodology to an iterative design process of both an architectural and virtual nature, with a final output that demonstrates the result of both concurrently.</p>

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