scholarly journals Tactile design of manipulator fingers based on fingertip/textilefriction-induced vibration stimulations

2020 ◽  
Vol 71 (01) ◽  
pp. 28-32
Author(s):  
YANHUI LIU ◽  
GUOQING ZHU ◽  
ZHENGQIN LIU ◽  
XINYI HU ◽  
RUITAO JIANG
Keyword(s):  
Humanoid Robot ◽  
Service Robots ◽  
Frequency Range ◽  
Cutaneous Mechanoreceptors ◽  
Random Match ◽  
Haptic System ◽  
Frequency Space ◽  
Tactile Stimuli ◽  
Robot Systems ◽  
The Relationship

Textile-like soft and flexible products are widely used in our daily life. Understanding the relationship between the tactilesensations of textiles and the tactile stimuli is essential for developing humanoid robot’s finger haptic system, especiallyfor certain kind of robot systems such as service robots and exploratory robots. This paper built a frequency space thatcan qualitatively represent a roughness sensation of textiles by a developing independently random match algorithm incombination with neurophysiological features of cutaneous mechanoreceptors. The experimental results show that thesum of amplitude in frequency range between 18 and 118 Hz can effectively describe the roughness sensory of textilewith accuracies of 98.5%. In other words, by applying the sum of amplitude in frequency range between 18 and 118 Hzcould successfully match roughness sensation of textiles, and it will help engineer of humanoid robot design manipulatorfinger haptic system in textile field.

The relationship between group velocity and phase velocity for finite, discrete observations

1977 ◽  
Vol 67 (5) ◽  
pp. 1249-1258
Author(s):  
Douglas C. Nyman ◽  
Harsh K. Gupta ◽  
Mark Landisman
Keyword(s):  
Phase Velocity ◽  
Group Velocity ◽  
The Other ◽  
Frequency Range ◽  
Finite Frequency ◽  
Discrete Observations ◽  
Practical Situation ◽  
Order Polynomial ◽  
Observational Errors ◽  
The Relationship

abstract The well-known relationship between group velocity and phase velocity, 1/u = d/dω (ω/c), is adapted to the practical situation of discrete observations over a finite frequency range. The transformation of one quantity into the other is achieved in two steps: a low-order polynomial accounts for the dominant trends; the derivative/integral of the residual is evaluated by Fourier analysis. For observations of both group velocity and phase velocity, the requirement that they be mutually consistent can reduce observational errors. The method is also applicable to observations of eigenfrequency and group velocity as functions of normal-mode angular order.

The robot-to-robot service encounter: an examination of the impact of inter-robot warmth

2021 ◽  
Vol 35 (9) ◽  
pp. 15-27
Author(s):  
Magnus Söderlund
Keyword(s):  
Design Methodology ◽  
Service Robots ◽  
Service Robot ◽  
Service Encounters ◽  
Experimental Setting ◽  
Content Type ◽  
Robot Systems ◽  
Synthetic Agents ◽  
High Level ◽  
The Impact

Purpose This study aims to examine humans’ reactions to service robots’ display of warmth in robot-to-robot interactions – a setting in which humans’ impressions of a service robot will not only be based on what this robot does in relation to humans, but also on what it does to other robots. Design/methodology/approach Service robot display of warmth was manipulated in an experimental setting in such a way that a service robot A expressed low versus high levels of warmth in relation to another service robot B. Findings The results indicate that a high level of warmth expressed by robot A vis-à-vis robot B boosted humans’ overall evaluations of A, and that this influence was mediated by the perceived humanness and the perceived happiness of A. Originality/value Numerous studies have examined humans’ reactions when they interact with a service robot or other synthetic agents that provide service. Future service encounters, however, will comprise also multi-robot systems, which means that there will be many opportunities for humans to be exposed to robot-to-robot interactions. Yet, this setting has hitherto rarely been examined in the service literature.

Minimum Energy Control of Multibody Systems Utilizing Storage Elements

2009 ◽  
Author(s):  
Werner Schiehlen ◽  
Makoto Iwamura
Keyword(s):  
Multibody Systems ◽  
Optimal Trajectory ◽  
Design Method ◽  
Equations Of Motion ◽  
Minimum Energy ◽  
Operating Time ◽  
Minimum Energy Control ◽  
Robot Systems ◽  
Optimal Design Method ◽  
The Relationship

In this paper, we consider the problem to minimize the energy consumption for controlled multibody systems utilizing passive elastic elements for energy storage useful for robot systems in manufacturing. Firstly, based on the linearized equations of motion, we analyze the relationship between the consumed energy and the operating time, and the optimal trajectory using optimal control theory. Then, we verify the analytical solution by comparing with the numerical one computed considering the full nonlinear dynamics. After that we derive a condition for the operating time to be optimal, and propose the optimal design method for springs. Finally, we show the effectiveness of the design method by applying it to a 2DOF manipulator.

scholarly journals Relationship Between Physiological Response Type (RA and SA) and Vibrissal Receptive Field of Neurons Within the Rat Trigeminal Ganglion

2006 ◽  
Vol 95 (5) ◽  
pp. 3129-3145 ◽  
Author(s):  
Steven C. Leiser ◽  
Karen A. Moxon
Keyword(s):  
Trigeminal Ganglion ◽  
Three Dimensional ◽  
Receptive Fields ◽  
Somatosensory System ◽  
Response Type ◽  
Physiological Level ◽  
Somatotopic Organization ◽  
Tactile Stimuli ◽  
Distinct Features ◽  
The Relationship

Cells within the trigeminal ganglion (Vg) encode all the information necessary for the rat to differentiate tactile stimuli, yet it is the least-studied component in the rodent trigeminal somatosensory system. For example, extensive anatomical and electrophysiological investigations have shown clear somatotopic organization in the higher levels of this system, including VPM thalamus and SI cortex, yet whether this conserved schemata exists in the Vg is unknown. Moreover although there is recent interest in recording from vibrissae-responsive cells in the Vg, it is surprising to note that the locations of these cells have not even been clearly demarcated. To address this, we recorded extracellularly from 350 sensory-responsive Vg neurons in 35 Long-Evans rats. First, we determined three-dimensional locations of these cells and found a finer detail of somatotopy than previously reported. Cells innervating dorsal facial features, even within the whisker region, were more dorsal than midline and ventral features. We also show more cells with caudal than rostral whisker receptive fields (RF), similar to that found in VPM and SI. Next, for each vibrissal cell we determined its response type classified as either rapidly (RA) or slowly (SA) adapting. We examined the relationship between vibrissal RF and response type and demonstrate similar proportions of RA and SA cells responding to any whisker. These results suggest that if RA and SA cells encode distinct features of stimuli, as previously suggested, then at the basic physiological level each whisker has similar abilities to encode for such features.

scholarly journals Cyber-security for Mobile Service Robots – Challenges for Cyber-physical System Safety

2019 ◽  
Vol 2 ◽  
pp. 29-36 ◽  
Author(s):  
Wojciech Dudek ◽  
Wojciech Szynkiewicz
Keyword(s):  
Information And Communication Technologies ◽  
Cyber Security ◽  
Communication Technologies ◽  
Service Robots ◽  
Cyber Physical System ◽  
Mobile Service ◽  
Physical Systems ◽  
Robot Systems ◽  
Information And Communication ◽  
Mobile Service Robots

A review of the known and an indication of the new threats for cyber-physical robotic systems, caused by cybernetic attacks, serves, in this paper, as a basis for the analysis of the known methods relied upon to detect and mitigate consequences of such attacks. A particular emphasis is placed on threats specific for cyber-physical systems, as they are a feature distinguishing these systems from their traditional Information and Communication Technologies (ICT) counterparts. Based on the review of literature and own analyses, unresolved issues regarding the cyber-security of robot systems are presented and discussed.

The Status of Research into Intention Recognition

2016 ◽  
pp. 201-221 ◽  
Author(s):  
Luyao Wang ◽  
Chunlin Li ◽  
Jinglong Wu
Keyword(s):  
Intelligence Quotient ◽  
The Elderly ◽  
Service Robots ◽  
Current Status ◽  
Human Computer Interactions ◽  
Intention Recognition ◽  
The Status ◽  
Service Object ◽  
The Relationship ◽  
Computer Interactions

In recent years, service robots have been widely used in many fields, especially for assisting the elderly and disabled. For example, the medical care of patients with Alzheimer's disease has become a worldwide problem. Existing service robots with some intelligence quotient can perform actions that are programmed by a human. However, the robot cannot understand human intentions or communicate with people naturally. Understanding the intent of the service object could allow the robot to provide better service. Therefore, the most critical component of human-computer interactions is intention recognition. There are currently many methods by which intention recognition can be achieved, such as EMG, EOG and EEG. In addition, emotion is one of the important factors during intention recognition, and this has been a breakthrough notion. This chapter summarizes the current status of research into intention recognition and gives a brief description of the relationship between emotion and intention. We hope to provide more ideas for optimizing human-computer interactions.

scholarly journals Snow Stratigraphy and Water Equivalence Measured With an Active Microwave System

1980 ◽  
Vol 26 (94) ◽  
pp. 225-233
Author(s):  
D. A. Ellerbruch ◽  
H. S. Boyne
Keyword(s):  
Electromagnetic Scattering ◽  
Direct Determination ◽  
Snow Pack ◽  
Frequency Range ◽  
Microwave Radar ◽  
Snow Stratigraphy ◽  
Microwave System ◽  
The Relationship ◽  
System Operating

AbstractThis paper reports on research on the relationship between the electromagnetic scattering properties and physical properties of snow-pack. An FM-CW active microwave radar system operating in the frequency range 8-12 GHz is used to scatter electromagnetic radiation from surface and subsurface stratigraphic layers in the snow-pack. The amplitude of the scattered radiation as a function of depth in the snow-pack can be correlated with such physical characteristics as density, hardness, stratigraphy, and moisture content. A direct determination of snow-pack water equivalence can be made from these observations.

Humanoid Robots

2020 ◽  
pp. 1-16
Author(s):  
Si Zhang ◽  
Jinglong Wu ◽  
Qiang Huang
Keyword(s):  
Conference Proceedings ◽  
Humanoid Robot ◽  
Brain Computer Interface ◽  
Humanoid Robots ◽  
Control Technology ◽  
Research Challenges ◽  
Control Framework ◽  
Mind Control ◽  
Robot Systems ◽  
Research Stage

This paper provides a review of humanoid robots and mind control humanoid robots. Information was obtained mainly from journals and conference proceedings on robotics and mind control technology. We primarily focus on providing an overview of commercially available robots and prototype research-stage humanoid robots in addition to mind control humanoid robot systems. First, a history and overview of the humanoid robot is presented. Then, typical mind control humanoid robot systems are described, including the relevant brain-computer interface and the whole control framework. Finally, the remaining research challenges in the field of humanoid robot safety are summarized.

Some Observations on the Relationship Between Lubricant Mechanical and Dielectric Transitions Under Pressure

1980 ◽  
Vol 102 (2) ◽  
pp. 229-234 ◽  
Author(s):  
S. Bair ◽  
W. O. Winer
Keyword(s):  
Atmospheric Pressure ◽  
Frequency Range ◽  
Two Fluids ◽  
Constant Rate ◽  
Constant Viscosity ◽  
The Relationship ◽  
Dielectric Transition

Viscoelastic transition measurements of several lubricants by volume dilatometry to pressures of 1.75 GPa, dielectric transitions at atmospheric pressure on five fluids in a frequency range of 0.2 to 500 kHz and on two fluids in the same frequency range to pressures of 0.55 GPa are reported. Lines of constant rate dilatometry transition, constant rate dielectric transition and constant viscosity are shown to be essentially parallel on a temperature-pressure diagram.

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