scholarly journals Survey on Main Drive Methods Used in Humanoid Robotic Upper Limbs

2021 ◽  
Vol 2021 ◽  
pp. 1-12
Author(s):  
Yiwei Wang ◽  
Wenyang Li ◽  
Shunta Togo ◽  
Hiroshi Yokoi ◽  
Yinlai Jiang
Keyword(s):  
Upper Limb ◽  
Structural Features ◽  
Drive System ◽  
Robotic Hand ◽  
Light Weight ◽  
Upper Limbs ◽  
Factors Affecting ◽  
Advantages And Disadvantages ◽  
Grasping Force ◽  
Tendon Drive

Humanoid robotic upper limbs including the robotic hand and robotic arm are widely studied as the important parts of a humanoid robot. A robotic upper limb with light weight and high output can perform more tasks. The drive system is one of the main factors affecting the weight and output of the robotic upper limb, and therefore, the main purpose of this study is to compare and analyze the effects of the different drive methods on the overall structure. In this paper, we first introduce the advantages and disadvantages of the main drive methods such as tendon, gear, link, fluid (hydraulic and pneumatic), belt, chain, and screw drives. The design of the drive system is an essential factor to allow the humanoid robotic upper limb to exhibit the structural features and functions of the human upper limb. Therefore, the specific applications of each drive method on the humanoid robotic limbs are illustrated and briefly analyzed. Meanwhile, we compared the differences in the weight and payload (or grasping force) of the robotic hands and robotic arms with different drive methods. The results showed that the tendon drive system is easier to achieve light weight due to its simple structure, while the gear drive system can achieve a larger torque ratio, which results in a larger output torque. Further, the weight of the actuator accounts for a larger proportion of the total weight, and a reasonable external placement of the actuator is also beneficial to achieve light weight.

Wearable sensing devices for upper limbs: A systematic review

2020 ◽  
Vol 235 (1) ◽  
pp. 117-130
Author(s):  
Mingjie Dong ◽  
Bin Fang ◽  
Jianfeng Li ◽  
Fuchun Sun ◽  
Huaping Liu
Keyword(s):  
Upper Limb ◽  
State Of The Art ◽  
Electronic Devices ◽  
The Body ◽  
Future Research ◽  
Upper Limbs ◽  
Advantages And Disadvantages ◽  
Wearable Sensing ◽  
Fast Development ◽  
Manufacturing Technologies

Wearable sensing devices, which are smart electronic devices that can be worn on the body as implants or accessories, have attracted much research interest in recent years. They are rapidly advancing in terms of technology, functionality, size, and real-time applications along with the fast development of manufacturing technologies and sensor technologies. By covering some of the most important technologies and algorithms of wearable devices, this paper is intended to provide an overview of upper-limb wearable device research and to explore future research trends. The review of the state-of-the-art of upper-limb wearable technologies involving wearable design, sensor technologies, wearable computing algorithms and wearable applications is presented along with a summary of their advantages and disadvantages. Toward the end of this paper, we highlight areas of future research potential. It is our goal that this review will guide future researchers to develop better wearable sensing devices for upper limbs.

A Novel Tendon Driven 5-Bar Linkage With a Large Isotropic Workspace

1999 ◽  
Author(s):  
Giuseppe Maria Prisco ◽  
Antonio Frisoli ◽  
Fabio Salsedo ◽  
Massimo Bergamasco
Keyword(s):  
Drive System ◽  
Haptic Interface ◽  
Transmission Ratio ◽  
Force Transmission ◽  
Average Force ◽  
Careful Choice ◽  
Advantages And Disadvantages ◽  
Closed Chain ◽  
Tendon Drive

Abstract An innovative, tension-tendon drive system is proposed to increase the kinematically isotropic workspace and the average force transmission ratio of the closed chain 5-bar linkage. Tendons ran from the grounded actuators all along the mechanism closed chain and terminate on the ground. In this way, each of the two actuators transmits torques to all the five joints of the mechanism. A careful choice of the radii of the joint pulleys which route the tendons allows to improve the global kinematic isotropy performance up to 1.5.3 times and the average force transmission ratio up to 2.97 times with respect to drive of base joints. The advantages and disadvantages of such a system for the realization of a Highly Isotropic Haptic Interface are discussed.

scholarly journals Brain-computer-interface technology with multisensory feedback for controlled ideomotor training in the rehabilitation of stroke patients

2019 ◽  
pp. 27-32
Author(s):  
Yu.V. Bushkova ◽  
G.E. Ivanova ◽  
L.V. Stakhovskaya ◽  
A.A. Frolov
Keyword(s):  
Motor Imagery ◽  
Upper Limb ◽  
Brain Computer Interface ◽  
Motor Recovery ◽  
Computer Interface ◽  
Robotic Hand ◽  
Stroke Patients ◽  
Factors Affecting ◽  
The Difference ◽  
Recovery Dynamics

Motor recovery of the upper limb is a priority in the neurorehabilitation of stroke patients. Advances in the brain-computer interface (BCI) technology have significantly improved the quality of rehabilitation. The aim of this study was to explore the factors affecting the recovery of the upper limb in stroke patients undergoing BCI-based rehabilitation with the robotic hand. The study recruited 24 patients (14 men and 10 women) aged 51 to 62 years with a solitary supratentorial stroke lesion. The lesion was left-hemispheric in 11 (45.6%) patients and right-hemispheric in 13 (54.4%) patients. Time elapsed from stroke was 4.0 months (3.0; 12.0). The median MoCa score was 25.0 (23.0; 27.0). The rehabilitation course consisted of 9.5 sessions (8.0; 10.0). We established a significant moderate correlation between motor imagery performance (the MIQ-RS score) and the efficacy of patient-BCI interaction. Patients with high MIQ-RS scores (47.5 (32.0; 54.0) achieved a better control of the BCI-driven hand exoskeleton (63.0 (54.0; 67.0), R = 0.67; p < 0.05). Recovery dynamics were more pronounced in patients with high MIQ-RS scores: the median score on the Fugl-Meyer Assessment scale was 14 (8.0; 16.0) points vs 10 (6.0; 13.0) points in patients with low MIQ-RS scores. However, the difference was not significant. Thus, we established a correlation between a patient’s ability for motor imagery (MIQ-RS) and the efficacy of patient-BCI interaction. A larger patient sample might be necessary to assess the effect of these factors on motor recovery dynamics.

An overview of Osmotic Drug Delivery System: An update review

2017 ◽  
Vol 6 (7) ◽  
pp. 5426 ◽  
Author(s):  
Hiren J. Patel ◽  
Vaishnavi P. Parikh
Keyword(s):  
Drug Delivery ◽  
Drug Delivery Systems ◽  
Life Cycle Management ◽  
Delivery Systems ◽  
Osmotic Pump ◽  
Factors Affecting ◽  
Advantages And Disadvantages ◽  
New Chemical Entities ◽  
History Of ◽  
Novel Drug

The pharmaceutical industry has faced several marked challenges in order to bring new chemical entities (NCEs) into the market over the past few decades. Various novel drug delivery approaches have been used as a part of life cycle management from which Osmotic drug delivery systems look the most promising one. After discussing the history of osmotic pump development, this article looks at the principles, advantages and disadvantages of osmotic drug delivery systems. Then, the basic components of osmotic pump and factors affecting the design of oral osmotic drug delivery systems are discussed in detail. In the later part of the manuscript, various types of osmotic pumps available in the market and evaluation methods for osmotic drug delivery systems are discussed in detail.

Clinical Application of Scalp Cluster Needling Combined with Bobath Technique in Upper Limb Spastic Paralysis After Stroke of Vertebral Artery Type

2021 ◽  
Author(s):  
Aimin Gong ◽  
Mengjie Zeng ◽  
Zhiquan Wu
Keyword(s):  
Treatment Group ◽  
Acupuncture Therapy ◽  
Vertebral Artery ◽  
Upper Limb ◽  
Training Group ◽  
Control Group ◽  
Upper Limbs ◽  
Spastic Paralysis ◽  
Rehabilitation Training ◽  
The Difference

To observe the difference in clinical effects of scalp-point cluster acupuncture combined with rehabilitation training in treating spastic paralysis of upper limbs after stroke. Using a randomized controlled design, 96 patients with upper limb spastic paralysis after stroke were randomly divided into two groups: treatment group (scalp acupuncture plus rehabilitation training group 48 cases), control group (rehabilitation training group 48 cases). After 2 courses of treatment, it was judged by observing clinical efficacy evaluation, Ashworth classification, and Fugl-Meyer (FMA) score. The total effective rate was 91.7% in the treatment group and 68.7% in the control group; the difference between the two groups was statistically significant (P <0.05). Before treatment, the difference in Ashworth classification between the two groups was not statistically significant (P> 0.05); after treatment, the difference between the two groups was statistically significant (P <0.01). After treatment, the difference between the two groups was statistically significant (P＜0.05). The Fugl-Meyer (FMA) scores of the two groups of patients before treatment were comparable (P>0.05), and there were significant differences between the two groups after treatment (P <0.05). The difference of Fugl-Meyer (FMA) scores between the two groups was statistically significant (P < 0.01). Scalp cluster acupuncture therapy is more effective than traditional acupuncture therapy alone in treating vertebral artery type cervical spondylosis. Scalp cluster acupuncture combined with Bobath technique is effective in treating spastic paralysis of upper limbs after stroke, and it is worthy of clinical application.

Microgripper-Embedded Fluid Fingertip-Enhancing Positioning and Holding Abilities for Versatile Grasping

2017 ◽  
Vol 9 (6) ◽  
Author(s):  
Toshihiro Nishimura ◽  
Yoshinori Fujihira ◽  
Tetsuyou Watanabe
Keyword(s):  
Position Control ◽  
Layer Structure ◽  
Outer Part ◽  
Robotic Hand ◽  
Mechanical Constraints ◽  
Grasping Forces ◽  
Geometrical Constraints ◽  
Grasping Force ◽  
Object Shapes ◽  
Contact Position

This paper presents a novel fingertip system with a two-layer structure for robotic hands. The outer part of the structure consists of a rubber bag filled with fluid, called the “fluid fingertip,” while the inner part consists of a rigid link mechanism called a “microgripper.” The fingertip thus is a rigid/fluid hybrid system. The fluid fingertip is effective for grasping delicate objects, that is, it can decrease the impulsive force upon contact, and absorb uncertainties in object shapes and contact force. However, it can only apply a small grasping force such that holding a heavy object with a robotic hand with fluid fingertips is difficult. Additionally, contact uncertainties including inaccuracies in the contact position control cannot be avoided. In contrast, rigid fingertips can apply considerable grasping forces and thus grasp heavy objects effectively, although this makes delicate grasping difficult. To maintain the benefits of the fluid fingertip while overcoming its disadvantages, the present study examines passively operable microgripper-embedded fluid fingertips. Our goal is to use the gripper to enhance the positioning accuracy and increase the grasping force by adding geometrical constraints to the existing mechanical constraints. Grasping tests showed that the gripper with the developed fingertips can grasp a wide variety of objects, both fragile and heavy.

Optimization design of drive system for industrial robots based on dynamic performance

2017 ◽  
Vol 44 (6) ◽  
pp. 765-775 ◽  
Author(s):  
LianZheng Ge ◽  
Jian Chen ◽  
Ruifeng Li ◽  
Peidong Liang
Keyword(s):  
Optimization Model ◽  
Optimization Problem ◽  
Industrial Robot ◽  
Dynamic Performance ◽  
System Optimization ◽  
Drive System ◽  
Industrial Robots ◽  
Mixed Integer ◽  
Light Weight ◽  
Content Type

Purpose The global performance of industrial robots partly depends on the properties of drive system consisting of motor inertia, gearbox inertia, etc. This paper aims to deal with the problem of optimization of global dynamic performance for robotic drive system selected from available components. Design/methodology/approach Considering the performance specifications of drive system, an optimization model whose objective function is composed of working efficiency and natural frequency of robots is proposed. Meanwhile, constraints including the rated and peak torque of motor, lifetime of gearbox and light-weight were taken into account. Furthermore, the mapping relationship between discrete optimal design variables and component properties of drive system were presented. The optimization problem with mixed integer variables was solved by a mixed integer-laplace crossover power mutation algorithm. Findings The optimization results show that our optimization model and methods are applicable, and the performances are also greatly promoted without sacrificing any constraints of drive system. Besides, the model fits the overall performance well with respect to light-weight ratio, safety, cost reduction and others. Practical implications The proposed drive system optimization method has been used for a 4-DOF palletizing robot, which has been largely manufactured in a factory. Originality/value This paper focuses on how the simulation-based optimization can be used for the purpose of generating trade-offs between cost, performance and lifetime when designing robotic drive system. An applicable optimization model and method are proposed to handle the dynamic performance optimization problem of a drive system for industrial robot.

scholarly journals O EFEITO DA REALIDADE VIRTUAL NA CAPACIDADE FUNCIONAL DE MEMBROS SUPERIORES EM INDIVÍDUOS COM HEMIPARESIA

2020 ◽  
Vol 12 (1) ◽  
pp. 38-44
Author(s):  
Nicoly Ribeiro Uliam ◽  
Isabella Cristina Leoci ◽  
Silas de Oliveira Damasceno ◽  
Caroline Nunes Gonzaga ◽  
Isabela Bortolim Frasson ◽  
...  
Keyword(s):  
Virtual Reality ◽  
Upper Limb ◽  
Functional Capacity ◽  
Normal Function ◽  
Manual Dexterity ◽  
Upper Limbs ◽  
Partial Loss ◽  
Nine Hole Peg Test

Stroke maylead to total and/or partial loss of normal function inone of the upper limbs, and therehabilitation is one of the main focuses of physiotherapists.The objective was to analyze the effects of virtual reality on upper limb functional capacity in individuals with hemiparesis. Initially they were evaluated for manual dexterity by the Nine Hole Peg Test (NHPT) and Box and Blocks Test (BBT) then be conductedto perform a 16-session protocol using virtual reality game through Nintendo WiiTMconsole. ™.We included 10 individuals with mean age of 64.5±9.54 and did not demonstrated significant results when comparing the moments, only a small effect (d=0.23) was found in the left upper limb in the NHPT. It was concluded, there was no significant improvement in the functional capacity of the upper limbs using virtual reality in individuals with hemiparesis.

scholarly journals Analisis Postur Kerja Operator dengan Metode Rula di Area Gas Cutting

2017 ◽  
Vol 3 (2) ◽  
pp. 73
Author(s):  
Irwan Pegiardi ◽  
Firdanis Setyaning Handika ◽  
Supriyadi Supriyadi
Keyword(s):  
Upper Limb ◽  
Research Method ◽  
The Body ◽  
Sitting Position ◽  
Upper Limbs ◽  
Work Posture ◽  
Long Time ◽  
Group A ◽  
Group B

The gas cutting area has several jobs that are risky to the operator, such as activities with squatting, bending positions. This study aims to determine the risk of work in the gas cutting area as a basis for improving work posture. The method used is RULA (Rapid Upper Limb Assessment) is a research method for investigating disorders of the upper limbs. By measuring the group A score and group B score. Based on the results of the RULA value in the process of operating the machine with a sitting position with a score 3. clearing the cutting plate with a bent position with a score of 5, and the highest score 6 in the grinding plate cutting. To reduce pain in the neck, torso, and arms, operators should not do work postures that cause pain in the body for a long time.

Sign in / Sign up

Export Citation Format

Share Document