Comparison of Six Passive Exoskeletons for Upper Limbs Using the TOPSIS Method

2022 ◽  
pp. 193-207
Author(s):  
Pablo Antonio Muñoz Gutierrez ◽  
Juan Luis Hernández-Arellano ◽  
Juan Alberto Castillo Martinez ◽  
Aide Aracely Maldonado-Macias
Keyword(s):  
Comparative Studies ◽  
Load Capacity ◽  
Upper Limbs ◽  
Topsis Method ◽  
Commercial Products ◽  
Advantages And Disadvantages ◽  
Occupational Tasks ◽  
New Models

The use of exoskeletons in occupational tasks has increased significantly in the last five years. However, few comparative studies have been conducted to understand the advantages and disadvantages of existing exoskeletons. This chapter presents the comparison of six exoskeletons using the TOPSIS method. Using databases of patents and commercial products, a total of six that were chosen to be compared by experts in the design and/or use of exoskeletons. The criteria evaluated were exoskeleton weight, load capacity, anthropometric adjusts, maintenance, and installation on the user. The Shoulder-X exoskeleton was selected as the best, serving as a reference for the acquisition of characteristics for recommendations for the development of new models for use in occupational tasks.

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.

scholarly journals Optimization of Combustion Characteristics of Blended Coals Based on TOPSIS Method

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-9 ◽  
Author(s):  
Yingchun Liu ◽  
Hao Zhang ◽  
Xiaohui Zhang ◽  
Shan Qing ◽  
Aimin Zhang ◽  
...  
Keyword(s):  
Bituminous Coal ◽  
Combustion Characteristic ◽  
Economic Costs ◽  
Topsis Method ◽  
Characteristic Index ◽  
Advantages And Disadvantages ◽  
Order Preference ◽  
Blended Coals ◽  
Mixing Schemes ◽  
Optimal Mixing

The Technique for Order Preference by Similarity to an Ideal Solution (TOPSIS) method is used to find optimal mixing scheme of Zhaotong lignite, Fuyuan bituminous coal, and Xiaolongtan lignite in terms of combustion performance. Comparative evaluation of different mixing schemes is also conducted, where the flammability index, comprehensive combustion characteristic index, burnout temperature, and economic costs can be used to measure the advantages and disadvantages of different mixing schemes with different parameters. Through analysis and optimization, it is found that when the lignite of Xiaolongtan, lignite of Zhaotong, and bituminous coal of Fuyuan are mixed with a ratio 2 : 1 : 2, the mixed coal has the best performance; when the lignite of Xiaolongtan, lignite of Zhaotong, and bituminous coal of Fuyuan are mixed with a ratio 0 : 2 : 1, the mixed coal has the worst performance.

scholarly journals APPLICATION OF MECHATRONIC MODULES IN HEXAPODS TO AUTOMATION OF JOINTS ASSEMBLING

2021 ◽  
Vol 1 (66) ◽  
pp. 48-53
Author(s):  
A. Romanov ◽  
A. Ursegova ◽  
A. Shchenyatsky
Keyword(s):  
Load Capacity ◽  
Parallel Kinematics ◽  
Mechatronic Systems ◽  
Advantages And Disadvantages ◽  
Energy Transitions

The paper deals with the advantages of using mechanisms with parallel kinematics for the assembly of interference fits. The analysis of applicability of various types of actuators in hexapods is carried out, their main advantages and disadvantages are revealed. The main features of the construction of mechatronic systems with electromechanical and electrohydraulic drives are considered, the analysis of energy transitions in each type of drive is carried out. Comparative assessments of the technical characteristics of the actuators are carried out: in terms of load capacity, accuracy and speed.

scholarly journals Identification of Small Unmanned Flying Objects

2020 ◽  
Vol 14 ◽  
Keyword(s):  
Load Capacity ◽  
Object Identification ◽  
Advantages And Disadvantages ◽  
Learning Patterns ◽  
Small Uav ◽  
Simulation Based ◽  
On Line ◽  
Dynamic Description ◽  
On Line Learning ◽  
Electronic Sensors

Detecting obstacles during the flight and avoiding them is desirable in the case of unmanned aerial vehicles intended for observation of a residential area, refers especially to lightweight micro-aviation vehicles of multi-rotor type, and is also a serious problem because their load capacity is limited, therefore only electronic sensors can be connected to the object. Usually the sensors built into the system are either based on a type vision (monocular or stereo camera) or on a laser camera. However, each of the sensors has its advantages and disadvantages, which is why the article presents the concept of a system for collecting data characterizing the flight of a UAV object and including them in the object identification process. The main purpose of this work is to perform selected studies (analysis, mathematical model, simulations) in the field of identification of small unmanned flying objects. A dynamic model describing UAV motion was developed, which took into account flight parameters using various identification methods. The structure of this work is contained in four chapters, in which, among others, the second chapter deals with the review of existing identification systems for small UAV objects, based on an analysis of the literature on the subject of research. The third chapter covers the issues related to aerodynamics and mechanics of small UAV objects and concerns linear longitudinal equations of UAVs based on Newton's second law. This chapter also describes the algorithm used for dynamic description along with incorrect filtering of "on-line" learning patterns and characterizes the least squares recursive method used for the simulation. Based on the analysis, mathematical models created, simulations performed and the results obtained based on them, practical conclusions presented in the final part of the article were formulated.

scholarly journals Too Much Of A Good Thing? A Review Of Volatility Extensions In Black-Scholes

2014 ◽  
Vol 30 (4) ◽  
pp. 1171 ◽  
Author(s):  
Lamya Kermiche
Keyword(s):  
Financial Crisis ◽  
Implied Volatility ◽  
Good Thing ◽  
Pricing Models ◽  
Market Models ◽  
Advantages And Disadvantages ◽  
Black Scholes ◽  
New Models ◽  
Main Variable ◽  
New Type

Since the seminal Black and Scholes model was introduced in the 1970s, researchers and practitioners have been continuously developing new models to enhance the original. All these models aim to ease one or more of the Black and Scholes assumptions, but this often results in a set of equations that is difficult if not impossible to use in practice. Nevertheless, in the wake of the financial crisis, an understanding of the various pricing models is essential to calm investors nerves. This paper reviews the models developed since Black and Scholes, giving the advantages and disadvantages of each type. It focuses on the main variable for which Black and Scholes gives results that differ widely from market data: implied volatility. This variable also forms the basis for the development of a new type of models, called market models.

scholarly journals Debonding Size Estimation in Reinforced Concrete Beams Using Guided Wave-Based Method

Sensors ◽  
2020 ◽  
Vol 20 (2) ◽  
pp. 389 ◽  
Author(s):  
Beata Zima ◽  
Rafał Kędra
Keyword(s):  
Reinforced Concrete ◽  
Guided Waves ◽  
Concrete Beams ◽  
Load Capacity ◽  
Experimental Tests ◽  
Concrete Cover ◽  
Guided Wave ◽  
Reinforced Concrete Beams ◽  
Size Estimation ◽  
Advantages And Disadvantages

The following paper presents the results of the theoretical and experimental analysis of the influence of debonding size on guided wave propagation in reinforced concrete beams. The main aim of the paper is a development of a novel, baseline-free method for determining the total area of debonding between steel rebar embedded in a concrete cover on the basis of the average wave velocity or the time of flight. The correctness of the developed relationships was verified during the experimental tests, which included propagation of guided waves in concrete beams with the varying debonding size, shape and location. The analysis of the collected results proved that guided waves can be efficiently used not only in the debonding detection, but also in an exact determining of its total area, which is extremely important in the context of the nondestructive assessment of the load capacity of the reinforced concrete structures. The undeniable advantage of the proposed method is that there are no requirements for any baseline signals collected for an undamaged structure. The paper comprises of the detailed step by step algorithm description and a discussion of both the advantages and disadvantages.

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.

scholarly journals Variants of the layout of the main technological equipment on the base chassis of mobile transport and reloading rope complexes and their comparative analysis

2021 ◽  
Vol 7 (3) ◽  
pp. 236-250
Author(s):  
I.A. Lagerev ◽  
◽  
A.V. Lagerev ◽  
V.I. Tarichko ◽  
◽  
...  
Keyword(s):  
Comparative Analysis ◽  
Structural Design ◽  
Load Capacity ◽  
Mining Industry ◽  
Hydraulic Cylinder ◽  
Technological Equipment ◽  
Advantages And Disadvantages ◽  
High Load Capacity ◽  
Design Options

Mobile ropeways formed by mobile transport and reloading rope complexes (terminal stations) on the basis of self-propelled wheeled chassis of high load capacity and cross-country ability are a promising type of transporting equipment for use in many branches of industrial production and maintenance – construction and mining industry, forestry and agriculture, elimination of the consequences of natural and man-made disasters, etc. The article develops a classification of self-propelled terminal stations based on such features as the location of the key element of the main technological equipment — the end tower of the rope system — on a wheeled chassis and the type of its fixation in the working position during the operation of the mobile ropeway. As promising variants of the structural design of mobile transport and technological rope complexes, options with an end, central and remote arrangement of the end tower; with hydraulic, rope, rope-hydraulic and rod types of fixing the end tower in the working position; with the installation of the end tower in the working position directly by a lifting hydraulic cylinder, using a folding rod and two-stage lifting are proposed. A brief description of the designs and the principle of operation of a large number of modifications of self-propelled terminal stations of various listed variants of the structural design of mobile rope complexes is given when preparing them for operation and during operation itself. A comparative analysis of the considered variants of mobile rope complexes is carried out on the basis of taking into account their main design and technical and economic characteristics, which made it possible to formulate both advantages and disadvantages of different design options.

scholarly journals Modelle zur Inneren Sicherheit: Neue Volkspolizisten oder Schandi zum Anfassen? Vom ABV zum KOBB

1995 ◽  
Vol 25 (101) ◽  
pp. 603-623
Author(s):  
Stefan Hornbostel ◽  
Christopher Hausmann
Keyword(s):  
Technical Efficiency ◽  
Advantages And Disadvantages ◽  
New Models ◽  
Prevention Programmes

In recent debates on inner security, there has been a clemand, not only for greater technical efficiency, but also for an increase in community-oriented behavior by the police. New models of local prevention politics and their traditions in the FRG and the GOR are discussed in this paper. The suggestion is, that despite basic differences between the two political and juridical systems, functional equivalents have emerged. Finally, the advantages and disadvantages of local prevention programmes are considered.

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