scholarly journals Kineto-Elasto-Static Design of Underactuated Chopstick-Type Gripper Mechanism for Meal-Assistance Robot

Robotics ◽  
2020 ◽  
Vol 9 (3) ◽  
pp. 50
Author(s):  
Tomohiro Oka ◽  
Jorge Solis ◽  
Ann-Louise Lindborg ◽  
Daisuke Matsuura ◽  
Yusuke Sugahara ◽  
...  
Keyword(s):  
Contact Force ◽  
Position Control ◽  
Vision System ◽  
Three Dimensional ◽  
Target Object ◽  
Grasp Planning ◽  
Torsion Spring ◽  
3D Printed ◽  
Gripping Force ◽  
Contact Position

Our research aims at developing a meal-assistance robot with vision system and multi-gripper that enables frail elderly to live more independently. This paper presents a development of a chopstick-type gripper for a meal-assistance robot, which is capable of adapting its shape and contact force with the target food according to the size and the stiffness. By solely using position control of the driving motor, the above feature is enabled without relying on force sensors. The gripper was designed based on the concept of planar 2-DOF under-actuated mechanism composed of a pair of four-bar chains having a torsion spring at one of the passive joints. To clarify the gripping motion and relationship among the contact force, food’s size and stiffness, and gripping position, kineto-elasto-static analysis of the mechanism was carried out. It was found from the result of the analysis that the mechanism was able to change its gripping force according to the contact position with the target object, and this mechanical characteristic was utilized in its grasp planning in which the position for the gripping the object was determined to realize a simple control system, and sensitivity of the contact force due to the error of the stiffness value was revealed. Using a three-dimensional (3D) printed prototype, an experiment to measure the gripping force by changing the contact position was conducted to validate the mechanism feature that can change its gripping force according to the size and the stiffness and the contact force from the analysis results. Finally, the gripper prototype was implemented to a 6-DOF robotic arm and an experiment to grasp real food was carried out to demonstrate the feasibility of the proposed grasp planning.

scholarly journals A Methodology for Multi-Camera Surface-Shape Estimation of Deformable Unknown Objects

Robotics ◽  
2018 ◽  
Vol 7 (4) ◽  
pp. 69 ◽  
Author(s):  
Evgeny Nuger ◽  
Beno Benhabib
Keyword(s):  
Particle Filtering ◽  
Surface Deformation ◽  
Vision System ◽  
Three Dimensional ◽  
Target Object ◽  
Surface Shape ◽  
Shape Estimation ◽  
Formal Approach ◽  
Camera System ◽  
Unknown Objects

A novel methodology is proposed herein to estimate the three-dimensional (3D) surface shape of unknown, markerless deforming objects through a modular multi-camera vision system. The methodology is a generalized formal approach to shape estimation for a priori unknown objects. Accurate shape estimation is accomplished through a robust, adaptive particle filtering process. The estimation process yields a set of surface meshes representing the expected deformation of the target object. The methodology is based on the use of a multi-camera system, with a variable number of cameras, and range of object motions. The numerous simulations and experiments presented herein demonstrate the proposed methodology’s ability to accurately estimate the surface deformation of unknown objects, as well as its robustness to object loss under self-occlusion, and varying motion dynamics.

A Statistical Approach to Three-Dimensional Shape Inspection of Micro-Solder Balls

2020 ◽  
Vol 10 (3) ◽  
pp. 24-33
Author(s):  
Jee Hong Kim
Keyword(s):  
Position Control ◽  
Vision System ◽  
Specular Reflection ◽  
Three Dimensional ◽  
Optical Source ◽  
Light Emitting ◽  
Solder Balls ◽  
Dimensional Shape ◽  
Shape Inspection ◽  
Point Light

This article presents an optical technique for the three-dimensional (3D) shape inspection of micro-solder balls used in ball grid array (BGA) packaging, before attaching them to a board or film. This technique uses an optical source comprising spatially arranged light-emitting diodes (LEDs), and the results are derived based on the specular reflection characteristics of the BGA balls. A vision system is designed to acquire the reflected image from the micro-solder balls. For shape inspection, the locations of the LED point-light-source reflections are determined via image processing, and defects in 3D BGA shapes are detected using statistical information of the relative positions of multiple BGA balls captured in the images. Experiments were conducted to validate our proposed method, and the results revealed that it allows for simultaneous inspection of multiple BGA balls placed arbitrarily in a glass dish, without the need for precise ball-position control.

Use of Three-dimensional Printing in the Development of Optimal Cardiac CT Scanning Protocols

2020 ◽  
Vol 16 (8) ◽  
pp. 967-977
Author(s):  
Zhonghua Sun
Keyword(s):  
Cardiovascular Disease ◽  
Cardiac Computed Tomography ◽  
Three Dimensional ◽  
Ct Scanning ◽  
Aortic Diseases ◽  
Clinical Value ◽  
Three Dimensional Printing ◽  
Doctor Patient Communication ◽  
Medical Education And Training ◽  
3D Printed

Three-dimensional (3D) printing is increasingly used in medical applications with most of the studies focusing on its applications in medical education and training, pre-surgical planning and simulation, and doctor-patient communication. An emerging area of utilising 3D printed models lies in the development of cardiac computed tomography (CT) protocols for visualisation and detection of cardiovascular disease. Specifically, 3D printed heart and cardiovascular models have shown potential value in the evaluation of coronary plaques and coronary stents, aortic diseases and detection of pulmonary embolism. This review article provides an overview of the clinical value of 3D printed models in these areas with regard to the development of optimal CT scanning protocols for both diagnostic evaluation of cardiovascular disease and reduction of radiation dose. The expected outcomes are to encourage further research towards this direction.

Investigation of the Static Behavior and Failure Mechanisms of a 3D Printed Bio-Based Sandwich with Auxetic Core

2020 ◽  
Vol 12 (05) ◽  
pp. 2050051
Author(s):  
Khawla Essassi ◽  
Jean-Luc Rebiere ◽  
Abderrahim El Mahi ◽  
Mohamed Amine Ben Souf ◽  
Anas Bouguecha ◽  
...  
Keyword(s):  
Failure Mechanisms ◽  
Three Dimensional ◽  
Acoustic Emissions ◽  
Shear Stiffness ◽  
Tensile Tests ◽  
Sandwich Composite ◽  
Static Behavior ◽  
Flax Fibers ◽  
Data Points ◽  
3D Printed

In this research contribution, the static behavior and failure mechanisms are developed for a three-dimensional (3D) printed dogbone, auxetic structure and sandwich composite using acoustic emissions (AEs). The skins, core and whole sandwich are manufactured using the same bio-based material which is polylactic acid reinforced with micro-flax fibers. Tensile tests are conducted on the skins and the core while bending tests are conducted on the sandwich composite. Those tests are carried out on four different auxetic densities in order to investigate their effect on the mechanical and damage properties of the materials. To monitor the invisible damage and damage propagation, a highly sensitive AE testing method is used. It is found that the sandwich with high core density displays advanced mechanical properties in terms of bending stiffness, shear stiffness, facing bending stress and core shear stress. In addition, the AE data points during testing present an amplitude range of 40–85[Formula: see text]dB that characterizes visible and invisible damage up to failure.

scholarly journals Neural Network Based Contact Force Control Algorithm for Walking Robots

Sensors ◽  
2021 ◽  
Vol 21 (1) ◽  
pp. 287
Author(s):  
Byeongjin Kim ◽  
Soohyun Kim
Keyword(s):  
Neural Network ◽  
Contact Force ◽  
Force Control ◽  
Control Algorithm ◽  
Position Control ◽  
Linear Quadratic Regulator ◽  
Walking Robots ◽  
Test Model ◽  
Linear Quadratic ◽  
Contact Force Control

Walking algorithms using push-off improve moving efficiency and disturbance rejection performance. However, the algorithm based on classical contact force control requires an exact model or a Force/Torque sensor. This paper proposes a novel contact force control algorithm based on neural networks. The proposed model is adapted to a linear quadratic regulator for position control and balance. The results demonstrate that this neural network-based model can accurately generate force and effectively reduce errors without requiring a sensor. The effectiveness of the algorithm is assessed with the realistic test model. Compared to the Jacobian-based calculation, our algorithm significantly improves the accuracy of the force control. One step simulation was used to analyze the robustness of the algorithm. In summary, this walking control algorithm generates a push-off force with precision and enables it to reject disturbance rapidly.

scholarly journals Midface Reconstruction: Planning and Outcome

2020 ◽  
Vol 53 (03) ◽  
pp. 324-334
Author(s):  
Gautam Biswas
Keyword(s):  
Digital Imaging ◽  
3D Structure ◽  
Three Dimensional ◽  
The Past ◽  
Complex Anatomy ◽  
Osseointegrated Implants ◽  
Low Profile ◽  
3D Printed ◽  
Midface Reconstruction ◽  
Reconstruction Planning

Abstract Reconstruction of the complex anatomy and aesthetics of the midface is often a challenge. A careful understanding of this three-dimensional (3D) structure is necessary. Anticipating the extent of excision and its planning following oncological resections is critical.In the past over two decades, with the advances in microsurgical procedures, contributions toward the reconstruction of this area have generated interest. Planning using digital imaging, 3D printed models, osseointegrated implants, and low-profile plates, has favorably impacted the outcome. However, there are still controversies in the management: to use single composite tissues versus multiple tissues; implants versus autografts; vascularized versus nonvascularized bone; prosthesis versus reconstruction.This article explores the present available options in maxillary reconstruction and outlines the approach in the management garnered from past publications and experiences.

scholarly journals Recurrent contracted sockets treated with personalized, three-dimensionally printed conformers and buccal grafts

2021 ◽  
pp. 112067212110000
Author(s):  
Annabel LW Groot ◽  
Jelmer S Remmers ◽  
Roel JHM Kloos ◽  
Peerooz Saeed ◽  
Dyonne T Hartong
Keyword(s):  
Three Dimensional ◽  
Case Series ◽  
Secondary Outcome ◽  
Retrospective Case ◽  
Upper Eyelid ◽  
Ocular Prosthesis ◽  
Buccal Mucosal Graft ◽  
Custom Made ◽  
3D Printed

Purpose: Recurrent contracted sockets are complex situations where previous surgeries have failed, disabling the wear of an ocular prosthesis. A combined method of surgery and long-term fixation using custom-made, three-dimensional (3D) printed conformers is evaluated. Methods: Retrospective case series of nine patients with recurrent excessive socket contraction and inability to wear a prosthesis, caused by chemical burns ( n = 3), fireworks ( n = 3), trauma ( n = 2) and enucleation and radiotherapy at childhood due to optic nerve glioma ( n = 1) with three average previous socket surgeries (range 2–6). Treatment consisted of a buccal mucosal graft and personalized 3D-printed conformer designed to be fixated to the periosteum and tarsal plates for minimal 2 months. Primary outcome was the retention of an ocular prosthesis. Secondary outcome was the need for additional surgeries. Results: Outcomes were measured at final follow-up between 7 and 36 months postoperatively (mean 20 months). Eight cases were able to wear an ocular prosthesis after 2 months. Three cases initially treated for only the upper or only the lower fornix needed subsequent surgery for the opposite fornix for functional reasons. Two cases had later surgery for cosmetic improvement of upper eyelid position. Despite pre-existing lid abnormalities (scar, entropion, lash deficiency), cosmetic outcome was judged highly acceptable in six cases because of symmetric contour and volume, and reasonably acceptable in the remaining two. Conclusions: Buccal mucosal transplant fixated with a personalized 3D-designed conformer enables retention of a well-fitted ocular prosthesis in previously failed socket surgeries. Initial treatment of both upper and lower fornices is recommended to avoid subsequent surgeries for functional reasons.

scholarly journals Three-dimensional printing for heart diseases: clinical application review

2021 ◽  
Author(s):  
Yanyan Ma ◽  
Peng Ding ◽  
Lanlan Li ◽  
Yang Liu ◽  
Ping Jin ◽  
...  
Keyword(s):  
3D Printing ◽  
Clinical Application ◽  
Heart Diseases ◽  
Three Dimensional ◽  
Convincing Evidence ◽  
Surgical Interventions ◽  
Three Dimensional Printing ◽  
Complex Anatomy ◽  
Precise Understanding ◽  
3D Printed

AbstractHeart diseases remain the top threat to human health, and the treatment of heart diseases changes with each passing day. Convincing evidence shows that three-dimensional (3D) printing allows for a more precise understanding of the complex anatomy associated with various heart diseases. In addition, 3D-printed models of cardiac diseases may serve as effective educational tools and for hands-on simulation of surgical interventions. We introduce examples of the clinical applications of different types of 3D printing based on specific cases and clinical application scenarios of 3D printing in treating heart diseases. We also discuss the limitations and clinically unmet needs of 3D printing in this context.

Automatic weaving method for three-dimensional composite preforms using vision system

2021 ◽  
pp. 004051752098238
Author(s):  
Siyuan Li ◽  
Zhongde Shan ◽  
Dong Du ◽  
Li Zhan ◽  
Zhikun Li ◽  
...  
Keyword(s):  
Relative Position ◽  
Vision System ◽  
Estimation Error ◽  
Three Dimensional ◽  
Fiber Reinforced Composites ◽  
Accurate Estimation ◽  
Digital Manufacturing ◽  
Relative Rotation ◽  
Reinforced Composites ◽  
Main Structure

Three-dimensional composite preform is the main structure of fiber-reinforced composites. During the weaving process of large-sized three-dimensional composite preform, relative rotation or translation between the fiber feeder and guided array occurs before feeding. Besides, the weaving needles can be at different heights after moving out from the guided array. These problems are mostly detected and adjusted manually. To make the weaving process more precise and efficient, we propose machine vision-based methods which could realize accurate estimation and adjustment of the relative position-pose between the fiber feeder and guided array, and make the needles pressing process automatic by recognizing the position of the weaving needles. The results show that the estimation error of relative position-pose is within 5%, and the rate of unrecognized weaving needles is 2%. Our proposed methods improve the automation level of weaving, and are conducive to the development of preform forming toward digital manufacturing.

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