2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)最新文献_第2页

A New Soft Force Sensor using Blended Silicone-Magnetic powder 一种新型硅磁混合软力传感器

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466150

Hossein Mirzanejad, M. M. Tabrizi, A. Fathian, A. Sharifnejad, M. Agheli

{"title":"A New Soft Force Sensor using Blended Silicone-Magnetic powder","authors":"Hossein Mirzanejad, M. M. Tabrizi, A. Fathian, A. Sharifnejad, M. Agheli","doi":"10.1109/ICROM.2017.8466150","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466150","url":null,"abstract":"In this paper, a new soft sensor is introduced in order to measure normal forces for use in soft robotics applications. Soft sensors and actuators usually have high flexible structures and therefore require elements which are compatible with this flexibility. We introduce a new approach to achieve more desired softness and flexibility specifically for soft magnetic force sensors. For this purpose, magnetic powder is used instead of a solid piece of magnet. Therefore, the Hall Effect sensor detects magnetic flux density induced by magnetic powder blended with soft silicone rubber. Using magnetic powder provides flexibility and soft behavior to the sensor. In addition, compared with solid magnet designs, the effective working rang is expanded. Three different structural parameters i.e. powder density, magnetic part diameter and height of the sensor are studied in order to choose the most proper design to get the best performance depending on the expected characteristics behavior for the sensor. It is shown by experimental results that different desired measurement range as well as sensitivity can be achieved by appropriate selection of these three parameters, which makes the sensor usable for many low-cost soft robotics applications.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115023186","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

A Robust Approach Toward Kernel-Based Visual Servoing 一种基于核的视觉伺服鲁棒方法

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466227

M. Parsapour, H. Taghirad

引用次数: 1

Continuous Contact Models for Space Manipulators Capturing Free-Floating Objects 空间机械臂捕获自由漂浮物体的连续接触模型

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466221

Ashkan Kiani, S. Ali, A. Moosavian, P. Zarafshan

引用次数: 0

Control and Residual Vibration Suppression of a Cable-Suspended Parallel Robot with Elastic Cables 弹性索悬索并联机器人的控制与残余振动抑制

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466223

M. Yousefzadeh, H. Tourajizadeh

引用次数: 0

Control an SMA-actuated rotary actuator by fractional order PID controller 用分数阶PID控制器控制sma驱动的旋转驱动器

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466199

S. Samadi, Aghil Yusefi Koma, M. Zakerzadeh, F. N. Heravi

引用次数: 3

Robust Nonlinear Neural Network-Based Control of a Haptic Interaction with an Admittance Type Virtual Environment 基于鲁棒非线性神经网络的导纳型虚拟环境触觉交互控制

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466196

Mojtaba Esfandiari, Soroush Sadeghnejad, F. Farahmand, G. Vosoughi

{"title":"Robust Nonlinear Neural Network-Based Control of a Haptic Interaction with an Admittance Type Virtual Environment","authors":"Mojtaba Esfandiari, Soroush Sadeghnejad, F. Farahmand, G. Vosoughi","doi":"10.1109/ICROM.2017.8466196","DOIUrl":"https://doi.org/10.1109/ICROM.2017.8466196","url":null,"abstract":"For simulating the surgical procedures in a virtual environment, it is necessary to propose a suitable virtual environment model which can reflect the real physical tool-tissue interaction behavior and a proper human user interface appropriate dynamic model. In this study, a linear Kelvin-Voigt and a nonlinear Hunt-Crossley models have been utilized to describe human hand dynamics during interaction with a haptic interface. Using the Lyapunov stability criteria, an adaptive neural network based controller being designed for guaranteeing the stability of the entire system, considering a nonlinear model for the environment, an inertia for a virtual tool, a constant time delay for data transforming from environment to the operator's side, and external disturbances. Results show that even if both hand models are stable in the sense of Lyapunov stability criteria, nevertheless, the nonlinear Hunt-Crossley model is less sensitive to the hand stiffness escalation and is more transparent than the linear Kelvin-Voigt model, especially in the high-frequency input forces.","PeriodicalId":166992,"journal":{"name":"2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116224393","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 8

Optimum mechanism for rehabilitation of fingers 手指康复的最佳机制

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466138

R. Yekta, H. Zohoor, Hooman Shirzadi

引用次数: 0

Optimal Kinematic Design of a Robotic Platform for Intraocular Surgeries 眼内手术机器人平台的运动学优化设计

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466185

Behnam Varmaghani, M. Khosravi, A. Molaei

引用次数: 1

Experimental Analysis of an Optimal Redundancy Resolution Scheme in a Cable-Driven Parallel Robot 一种缆索驱动并联机器人最优冗余解决方案的实验分析

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466147

Masoud Ghanbari, Mohammadreza Mousavi, S. A. A. Moosavian, A. Nasr, P. Zarafshan

引用次数: 3

Haptic Tele-cooperation of Multiple Robots 多机器人的触觉远程协作

2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2017-10-01 DOI: 10.1109/ICROM.2017.8466205

I. Sharifi, H. Talebi, S. A. R. Mousavi, S. Shemshaki, M. Tavakoli

引用次数: 0