scholarly journals A Parallel Robot with Torque Monitoring for Brachial Monoparesis Rehabilitation Tasks

2021 ◽  
Vol 11 (21) ◽  
pp. 9932
Author(s):  
Doina Pisla ◽  
Daniela Tarnita ◽  
Paul Tucan ◽  
Nicoleta Tohanean ◽  
Calin Vaida ◽  
...  
Keyword(s):  
Monitoring System ◽  
Experimental Tests ◽  
Parallel Robot ◽  
Human Robot Interaction ◽  
Complete Analysis ◽  
Medical Procedure ◽  
Biomedical Sensors ◽  
System Operator ◽  
High Degree ◽  
Rehabilitation Tasks

Robots for rehabilitation tasks require a high degree of safety for the interaction with both the patients and for the operators. In particular, high safety is a stable and intuitive control of the moving elements of the system combined with an external system of sensors able to monitor the position of every aspect of the rehabilitation system (operator, robot, and patient) and overcome in a certain measure all the events that may occur during the robotic rehabilitation procedure. This paper presents the development of an internal torque monitoring system for ASPIRE. This is a parallel robot designed for shoulder rehabilitation, which enables the use of strategies towards developing a HRI (human–robot interaction) system for the therapy. A complete analysis regarding the components of the robotic system is carried out with the purpose of determining the dynamic behavior of the system. Next, the proposed torque monitoring system is developed with respect to the previously obtained data. Several experimental tests are performed using healthy subjects being equipped with a series of biomedical sensors with the purpose of validating the proposed torque monitoring strategy and, at the same time, to satisfy the degree of safety that is requested by the medical procedure.

scholarly journals Human–Robot Interaction through Eye Tracking for Artistic Drawing

Robotics ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 54
Author(s):  
Lorenzo Scalera ◽  
Stefano Seriani ◽  
Paolo Gallina ◽  
Mattia Lentini ◽  
Alessandro Gasparetto
Keyword(s):  
Eye Tracking ◽  
Assistive Technology ◽  
Movement Disorders ◽  
Industrial Robot ◽  
Experimental Tests ◽  
Human Robot Interaction ◽  
Eye Tracker ◽  
Robot Interaction ◽  
Eye Motion ◽  
Artistic Images

In this paper, authors present a novel architecture for controlling an industrial robot via an eye tracking interface for artistic purposes. Humans and robots interact thanks to an acquisition system based on an eye tracker device that allows the user to control the motion of a robotic manipulator with his gaze. The feasibility of the robotic system is evaluated with experimental tests in which the robot is teleoperated to draw artistic images. The tool can be used by artists to investigate novel forms of art and by amputees or people with movement disorders or muscular paralysis, as an assistive technology for artistic drawing and painting, since, in these cases, eye motion is usually preserved.

Bell’s theorem

2018 ◽  
Author(s):  
Arthur Fine
Keyword(s):  
Quantum Mechanics ◽  
Quantum Theory ◽  
Experimental Tests ◽  
Bell Inequalities ◽  
Bell’S Theorem ◽  
Bell's Theorem ◽  
Bell Theorem ◽  
System Of Inequalities ◽  
Action At A Distance ◽  
High Degree

Bell’s theorem is concerned with the outcomes of a special type of ‘correlation experiment’ in quantum mechanics. It shows that under certain conditions these outcomes would be restricted by a system of inequalities (the ‘Bell inequalities’) that contradict the predictions of quantum mechanics. Various experimental tests confirm the quantum predictions to a high degree and hence violate the Bell inequalities. Although these tests contain loopholes due to experimental inefficiencies, they do suggest that the assumptions behind the Bell inequalities are incompatible not only with quantum theory but also with nature. A central assumption used to derive the Bell inequalities is a species of no-action-at-a-distance, called ‘locality’: roughly, that the outcomes in one wing of the experiment cannot immediately be affected by measurements performed in another wing (spatially distant from the first). For this reason the Bell theorem is sometimes cited as showing that locality is incompatible with the quantum theory, and the experimental tests as demonstrating that nature is nonlocal. These claims have been contested.

scholarly journals A Novel Calibration Algorithm for Cable-Driven Parallel Robots with Application to Rehabilitation

2019 ◽  
Vol 9 (11) ◽  
pp. 2182 ◽  
Author(s):  
Han Yuan ◽  
Xianghui You ◽  
Yongqing Zhang ◽  
Wenjing Zhang ◽  
Wenfu Xu
Keyword(s):  
Calibration Method ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Human Robot Interaction ◽  
Automatic Calibration ◽  
Unknown Parameters ◽  
Robot Interaction ◽  
Geometric Calibration ◽  
Rehabilitation Robots ◽  
Calibration Algorithm

Cable-driven parallel robots are suitable candidates for rehabilitation due to their intrinsic flexibility and adaptability, especially considering the safety of human–robot interaction. However, there are still some challenges to apply cable-driven parallel robots to rehabilitation, one of which is the geometric calibration. This paper proposes a new automatic calibration method that is applicable for cable-driven parallel rehabilitation robots. The key point of this method is to establish the mapping between the unknown parameters to be calibrated and the parameters that could be measured by the inner sensors and then use least squares algorithm to find the solutions. Specifically, the unknown parameters herein are the coordinates of the attachment points, and the measured parameters are the lengths of the redundant cables. Simulations are performed on a 3-DOF parallel robot driven by four cables for validation. Results show that the proposed calibration method could precisely find the real coordinate values of the attachment points, with errors less than 10 − 12 mm. Trajectory simulations also indicate that the positioning accuracy of the cable-driven parallel robot (CDPR) could be greatly improved after calibration using the proposed method.

scholarly journals Tempcore Process Simulator to Analyze Microstructural Evolution of Quenched and Tempered Rebar

2019 ◽  
Vol 9 (14) ◽  
pp. 2938 ◽  
Author(s):  
Chun Su Park ◽  
Hyang Jun Yi ◽  
Yong-Tae Kim ◽  
Sang Wook Han ◽  
Taekyung Lee ◽  
...  
Keyword(s):  
Microstructural Evolution ◽  
Water Pressure ◽  
Experimental Tests ◽  
Cooling Time ◽  
Shop Floor ◽  
Vacuum Induction Furnace ◽  
Chemical Compositions ◽  
High Degree ◽  
Tempcore Process ◽  
Process Simulator

Tempcore process simulator (TPS) has been developed in this study to analyze the microstructural evolution of quenched and tempered rebar. There has been an increasing need to relate the complex microstructures to the resulting properties of quenched and tempered rebar. However, information on such relationships typically requires precise thermal histories imposed on the workpiece. Therefore, TPS, capable of simulating the Tempcore process, has been developed to produce high-fidelity data. TPS mainly consists of a vacuum induction furnace, pilot rolling mill, box furnace, and cooling unit to simulate shop floor operations. A series of experimental tests were successfully carried out with various parameters, such as reheating temperature, water flow, water pressure, and cooling time. The effects of chemical compositions and cooling time on the microstructural evolution and mechanical properties of quenched and tempered rebar have been analyzed to validate the performance of TPS. The results show that TPS can simulate the Tempcore process with a high degree of fidelity and reliability.

scholarly journals Application of Reinforcement Learning to a Robotic Drinking Assistant

Robotics ◽  
2019 ◽  
Vol 9 (1) ◽  
pp. 1 ◽  
Author(s):  
Tejas Kumar Shastha ◽  
Maria Kyrarini ◽  
Axel Gräser
Keyword(s):  
Reinforcement Learning ◽  
Tactile Feedback ◽  
Human Robot Interaction ◽  
Assistive Robotics ◽  
Training Procedure ◽  
Assistive Robots ◽  
Assistive Robot ◽  
Markov Decision ◽  
Degree Of Acceptance ◽  
High Degree

Meal assistant robots form a very important part of the assistive robotics sector since self-feeding is a priority activity of daily living (ADL) for people suffering from physical disabilities like tetraplegia. A quick survey of the current trends in this domain reveals that, while tremendous progress has been made in the development of assistive robots for the feeding of solid foods, the task of feeding liquids from a cup remains largely underdeveloped. Therefore, this paper describes an assistive robot that focuses specifically on the feeding of liquids from a cup using tactile feedback through force sensors with direct human–robot interaction (HRI). The main focus of this paper is the application of reinforcement learning (RL) to learn what the best robotic actions are, based on the force applied by the user. A model of the application environment is developed based on the Markov decision process and a software training procedure is designed for quick development and testing. Five of the commonly used RL algorithms are investigated, with the intention of finding the best fit for training, and the system is tested in an experimental study. The preliminary results show a high degree of acceptance by the participants. Feedback from the users indicates that the assistive robot functions intuitively and effectively.

A Complete Analysis and a Novel Solution for Instability in Pump Controlled Asymmetric Actuators

2015 ◽  
Vol 137 (9) ◽  
Author(s):  
Hakan Çalışkan ◽  
Tuna Balkan ◽  
Bülent E. Platin
Keyword(s):  
Generalized Linear Model ◽  
Stability Problem ◽  
Experimental Tests ◽  
Complete Analysis ◽  
Hydraulic Circuit ◽  
Pressure Oscillations ◽  
Load Pressure ◽  
Flow Rates ◽  
Pressure Region ◽  
The Stability

This paper addresses the stability problem of pump controlled asymmetric hydraulic actuators and proposes a physical solution for it. The system under consideration utilizes a shuttle valve to compensate for unequal flow rates due to the asymmetry in the actuator. Possible hydraulic circuit configurations resulting from various valve positions are defined on the load pressure versus velocity plane and a generalized linear model of the system is derived. The investigation shows that there exists a critical load pressure region in which any equilibrium point requiring a partially open spool position is unstable during the retraction of the actuator. A particular valve underlap is proposed in order to avoid the instability and a shuttle valve selection guide is presented. Theoretical findings are validated by both numerical simulations and experimental tests. Results show that the undesired pressure oscillations are removed up to certain actuator velocities with the use of an underlapped shuttle valve.

Mindful tutors

2011 ◽  
Vol 12 (1) ◽  
pp. 134-161 ◽  
Author(s):  
Kerstin Fischer ◽  
Kilian Foth ◽  
Katharina J. Rohlfing ◽  
Britta Wrede
Keyword(s):  
Social Communication ◽  
Human Robot Interaction ◽  
Robot Interaction ◽  
Social Actors ◽  
Everyday Objects ◽  
Computers As Social Actors ◽  
Keywords Child ◽  
Linguistic Behaviour ◽  
Almost All ◽  
High Degree

It has been proposed that the design of robots might benefit from interactions that are similar to caregiver–child interactions, which is tailored to children’s respective capacities to a high degree. However, so far little is known about how people adapt their tutoring behaviour to robots and whether robots can evoke input that is similar to child-directed interaction. The paper presents detailed analyses of speakers’ linguistic behaviour and non-linguistic behaviour, such as action demonstration, in two comparable situations: In one experiment, parents described and explained to their nonverbal infants the use of certain everyday objects; in the other experiment, participants tutored a simulated robot on the same objects. The results, which show considerable differences between the two situations on almost all measures, are discussed in the light of the computer-as-social-actor paradigm and the register hypothesis. Keywords: child-directed speech (CDS); motherese; robotese; motionese; register theory; social communication; human–robot interaction (HRI); computers-as-social-actors; mindless transfer

Damage Detection of Concrete Structures Using Acoustic Emission

2008 ◽  
Vol 400-402 ◽  
pp. 101-106 ◽  
Author(s):  
A. Nair ◽  
C.S. Cai
Keyword(s):  
Acoustic Emission ◽  
Damage Detection ◽  
Monitoring System ◽  
Quantitative Methods ◽  
Concrete Beams ◽  
Experimental Tests ◽  
The United States ◽  
Bridge Monitoring ◽  
Technological Advances ◽  
Made In

The current state of bridges in the United States calls for the implementation of a continuous bridge monitoring system that can aid in timely damage detection and help extend the service life of these structures. A typical monitoring system would be one which enables non-invasive, continuous monitoring of the structure. The passive nature of the acoustic emission (AE) evaluation technique makes it an ideal choice to serve this purpose. Although the technique has been successfully used for decades for damage detection in other fields, its potential in bridge monitoring has not yet been fully exploited. This paper presents experimental tests performed on four concrete beams in laboratory. The laboratory concrete beams were tested under different loading patterns. While acoustic emission monitoring of bridge structures is not a new vista, most evaluations conducted before are only qualitative. Though some quantitative methods have been proposed, they have not yet developed to be useful for actual field test of bridges. Therefore, an attempt was made in this study to use the intensity analysis technique for damage quantification. The use of intensity charts may help in better estimating the damage severity, although clearly marked zones of damage are not yet prescribed for certain materials like concrete and steel. All in all, the applications of AE in bridge monitoring reveal the potential of this technique’s versatility. The technological advances made in recent years have made the method more suitable for onsite monitoring situations. Although more research may be needed to implement the current ideas, the future looks promising for the application of this technology in efficient continuous bridge monitoring scenarios.

Experimental results for the flexible joint cable-suspended manipulator of ICaSbot

Robotica ◽  
2013 ◽  
Vol 31 (6) ◽  
pp. 887-904 ◽  
Author(s):  
M. H. Korayem ◽  
M. Bamdad ◽  
H. Tourajizadeh ◽  
A. H. Korayem ◽  
R. M. Zehtab ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Experimental Tests ◽  
Parallel Robot ◽  
Joint Space ◽  
End Effector ◽  
Flexible Joint ◽  
Cable Robot ◽  
Six Dof ◽  
And Control ◽  
Computed Torque

SUMMARYIn this paper, design, dynamic, and control of the motors of a spatial cable robot are presented considering flexibility of the joints. End-effector control in order to control all six spatial degrees of freedom (DOFs) of the system and motor control in order to control the joints flexibility are proposed here. Corresponding programing of its operation is done by formulating the kinematics and dynamics and also control of the robot. Considering the existence of gearboxes, flexibility of the joints is modeled in the feed-forward term of its controller to achieve better accuracy. A two sequential closed-loop strategy consisting of proportional derivative (PD) for linear actuators in joint space and computed torque method for nonlinear end-effector in Cartesian space is presented for further accuracy. Flexibility is estimated using modeling and simulation by MATLAB and SimDesigner. A prototype has been built and experimental tests have been done to verify the efficiency of the proposed modeling and controller as well as the effect of flexibility of the joints. The ICaSbot (IUST Cable-Suspended robot) is an under-constrained six-DOF parallel robot actuated by the aid of six suspended cables. An experimental test is conducted for the manufactured flexible joint cable robot of ICaSbot and the outputs of sensors are compared with simulation. The efficiency of the proposed schemes is demonstrated.

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