Analysis and Experimentation of the Robotic System for Archwire Bending

2011 ◽  
Vol 121-126 ◽  
pp. 3805-3809 ◽  
Author(s):  
Yong De Zhang ◽  
Ji Xiong Jiang
Keyword(s):  
Human Factors ◽  
Orthodontic Treatment ◽  
Control Point ◽  
Robotic System ◽  
Control Points ◽  
Coordinate Systems ◽  
End Effector ◽  
Manual Operation ◽  
Orthodontic Wire ◽  
And Control

Archwire bending is one of the key components in orthodontic treatment. However, it is a very difficult work due to the high stiffness and superelasticity of orthodontic wire. The traditional way of acquiring the formed archwire curve is based on manual operation, which will randomly bring numerous errors caused by human factors. This paper proposes a novel robotic system to bend archwire into desired configuration. Structure and elements of robotic system for archwire bending was studied. Coordinate systems of robotic system were built up. Control points of end effector and control angle of each control point were planned. Preliminary orthodontic wire bending experimentation has been done using the robotic system. The experimental results verified the feasibility of the manufacture strategy of formed orthodontic wire fulfilled by robotic system for orthodontic wire bending.

Redundancy utilization for obstacle avoidance of planar robot manipulators

1997 ◽  
Vol 211 (6) ◽  
pp. 463-475 ◽  
Author(s):  
U Sezgin ◽  
L D Seneviratne ◽  
S W E Earles
Keyword(s):  
Obstacle Avoidance ◽  
Computer Simulations ◽  
Redundant Manipulators ◽  
Control Points ◽  
Kinematic Redundancy ◽  
End Effector ◽  
Revolute Joints ◽  
Planar Robot ◽  
And Control ◽  
Configuration Control

Two obstacle avoidance criteria are developed, utilizing the kinematic redundancy of serial redundant manipulators having revolute joints and tracking pre-determined end effector paths. The first criterion is based on the instantaneous distances between certain selected points along the manipulator, called configuration control points (CCP), and the vertices of the obstacles. The optimized joint configurations are obtained by maximizing these distances. Thus, the links of the manipulator are configured away from the obstacles. The second criterion uses a different approach, and is based on Voronoi boundaries representing the equidistant paths between two obstacles. The optimized joint configurations are obtained by minimizing the distances between the CCP and control points selected on the Voronoi boundaries. The validities of the criteria are demonstrated through computer simulations.

Modelling and Control of a Mobile Robot, Equipped with an Arm in Cylindrical Coordinates with Uncoupled Tentacular Terminal

2016 ◽  
Vol 822 ◽  
pp. 311-320
Author(s):  
Viorel Stoian ◽  
Sorin Dumitru
Keyword(s):  
Dynamic Models ◽  
Robotic System ◽  
Mobile Platform ◽  
Robotic Arm ◽  
Target Point ◽  
Cylindrical Coordinates ◽  
Lagrange Method ◽  
End Effector ◽  
Kinematic Models ◽  
And Control

In this paper a robotic system which consists in a mobile platform with wheels and a robotic arm that operates in cylindrical coordinates which are located on, having a tentacular end-effector that executes specific grasping operations is presented. The robotic system executes: the displacement in the operation field, towards a target point that has been priori established, positioning the arm in order to perform the specified task, and the end-effector task according to a tentacular model. Kinematic models are made by Denavit – Hartenberg method and dynamic models by Lagrange method. Finally, is proposed a control system with uncoupled components.Keywords: mobile platform, tentacular structure, observer.

scholarly journals Is Shear-Wave Elastography a Clinical Severity Indicator of Myofascial Pain Syndrome? An Observational Study

2021 ◽  
Vol 10 (13) ◽  
pp. 2895
Author(s):  
Juan Antonio Valera-Calero ◽  
Sandra Sánchez-Jorge ◽  
Jorge Buffet-García ◽  
Umut Varol ◽  
Gracia María Gallego-Sendarrubias ◽  
...  
Keyword(s):  
Observational Study ◽  
Neck Pain ◽  
Shear Wave ◽  
Control Point ◽  
Shear Wave Elastography ◽  
Clinical Severity ◽  
Control Points ◽  
Myofascial Trigger Points ◽  
Asymptomatic Subjects ◽  
And Control

Since manual palpation is a subjective procedure for identifying and differentiate Myofascial Trigger Points -MTrPs-, the use of Shear Wave Elastography -SWE- as an objective alternative is increasing. This study aimed to analyze pain pressure thresholds -PPTs- and SWE differences between active MTrPs, latent MTrPs and control points located in the upper trapezius to analyze the association of SWE features with clinical severity indicators (e.g., pain extension area, PPTs, neck pain and neck disability). An observational study was conducted to calculate the correlation and to analyze the differences of sociodemographic, clinical and SWE features on 34 asymptomatic subjects with latent MTrPs and 19 patients with neck pain and active MTrPs. Significant PPT differences between active with latent MTrPs (p < 0.001) and control points (p < 0.001) were found, but no differences between latent MTrPs and control points (p > 0.05). No stiffness differences were found between active MTrPs with latent MTrPs or control points (p > 0.05). However, significant control point stiffness differences between-samples were found (p < 0.05). SWE showed no significant correlation with clinical severity indicators (p > 0.05). No stiffness differences between active and latent MTrPs were found. Neck pain patients showed increased control point stiffness compared with asymptomatic subjects. SWE showed no association with clinical severity indicators.

Human Factors of 3-D Perspective Displays for Command and Control

2002 ◽  
Author(s):  
Harvey S. Smallman ◽  
mark St. John ◽  
Michael B. Cowen
Keyword(s):  
Human Factors ◽  
Command And Control ◽  
And Control

scholarly journals Development of a Virtual Reality Simulator for an Intelligent Robotic System Used in Ankle Rehabilitation

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1537
Author(s):  
Florin Covaciu ◽  
Adrian Pisla ◽  
Anca-Elena Iordan
Keyword(s):  
Virtual Reality ◽  
Muscle Activity ◽  
Human Subject ◽  
Robotic System ◽  
Virtual Reality Simulator ◽  
Robotic Rehabilitation ◽  
Rehabilitation Process ◽  
Leg Muscles ◽  
Ankle Rehabilitation ◽  
And Control

The traditional systems used in the physiotherapy rehabilitation process are evolving towards more advanced systems that use virtual reality (VR) environments so that the patient in the rehabilitation process can perform various exercises in an interactive way, thus improving the patient’s motivation and reducing the therapist’s work. The paper presents a VR simulator for an intelligent robotic system of physiotherapeutic rehabilitation of the ankle of a person who has had a stroke. This simulator can interact with a real human subject by attaching a sensor that contains a gyroscope and accelerometer to identify the position and acceleration of foot movement on three axes. An electromyography (EMG) sensor is also attached to the patient’s leg muscles to measure muscle activity because a patient who is in a worse condition has weaker muscle activity. The data collected from the sensors are taken by an intelligent module that uses machine learning to create new levels of exercise and control of the robotic rehabilitation structure of the virtual environment. Starting from these objectives, the virtual reality simulator created will have a low dependence on the therapist, this being the main improvement over other simulators already created for this purpose.

Design of a Crop Harvesting End Effector for the Robotic System used in the NASA JSC Biomass Production Chamber

2003 ◽  
Author(s):  
Neil Duffie ◽  
Weijia Zhou ◽  
Erick Oberstar ◽  
Martin Kornfeld ◽  
Wolfgang Ptacek
Keyword(s):  
Biomass Production ◽  
Robotic System ◽  
End Effector

Comparison of Early Implant Failure Rates Between Subjects With and Without Orthodontic Treatment Before Dental Implantation

2019 ◽  
Vol 45 (1) ◽  
pp. 29-34
Author(s):  
Li-ching Chang ◽  
I-ming Tsai
Keyword(s):  
Treatment Group ◽  
Failure Rate ◽  
Orthodontic Treatment ◽  
Implant Failure ◽  
Control Group ◽  
Failure Rates ◽  
Implant Surgery ◽  
Dental Implantation ◽  
And Control

The present study compared early dental implant failure rates between patients with and without orthodontic treatment before dental implantation. The data of adults who had undergone dental implantation between January 2007 and December 2016 were analyzed retrospectively. A total of 124 subjects with 255 implants were divided into a treatment group (46 subjects, 85 teeth) consisting of patients who had undergone implant surgery after orthodontic treatment and a control group of patients who had not undergone preimplant orthodontic treatment. Implants that failed before permanent crown fabrication were defined as failures. No significant differences in gender or age were found between the treatment group and controls. No significant differences were found in implant failure rates in either jaw between the treatment and control groups. However, the failure rate was still higher in the treatment group (14.81%) than in the control group (3.28%) for the maxilla. Results of this study demonstrate an increased implant failure rate only in the maxilla of patients who underwent orthodontic treatment before dental implantation, especially implant surgery combined with a sinus lift procedure. Further study with a larger sample size and longer follow-up period is necessary to confirm results of the present study and identify other confounding factors.

Sign in / Sign up

Export Citation Format

Share Document