Volume 5A: 43rd Mechanisms and Robotics Conference最新文献

{"title":"Machine Learning Driven Individualized Gait Rehabilitation: Classification, Prediction, and Mechanism Design","authors":"Amol Loya, Shrinath Deshpande, A. Purwar","doi":"10.1115/detc2019-98434","DOIUrl":"https://doi.org/10.1115/detc2019-98434","url":null,"abstract":"\u0000 Design of mechanisms for human-machine interaction involves numerous subjective criteria and constraints in addition to the kinematic task. This is particularly important for the rehabilitation devices, where the size, complexity, weight, cost, and ease of use are critical factors. A large majority of the approaches towards the design of such devices, which are based on limited degree-of-freedom mechanisms start with finding numerically optimal solutions to the task path followed by pruning for feasible design concepts. Given the highly nonlinear nature of the problem, this approach discards a large proportion of numerically sub-optimal solutions, which could potentially be pragmatically optimal solutions if the subject criteria were applied from the start. To overcome this limitation, in this paper, we present an end-to-end computational approach for developing a device for individualized gait rehabilitation using machine learning techniques focusing on gait classification, prediction, and specialized device design. These models generate a distribution of linkage mechanisms, which strongly correlate to the distribution of target path variations. This way of formulating the problem results in a large variety of solutions to which subjective criteria can be applied to yield practically useful design concepts that would otherwise not be possible using traditional synthesis methods.","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130740065","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}

{"title":"A Novel Reconfigurable Wheel-Legged Mobile Mechanism","authors":"Hongchuan Zhang, Xianmin Zhang, Huang Yanjiang, Du Junjie, Benliang Zhu","doi":"10.1115/detc2019-97785","DOIUrl":"https://doi.org/10.1115/detc2019-97785","url":null,"abstract":"\u0000 This paper presents a novel wheel-legged mobile robot with a reconfigurable frame, which uses a compliant kaleidocycles inspired spring-hinged eight-bar mechanism. The kinematic model of the mechanism is established and the relationships between actual rotation angle and the joint angles is thoroughly obtained in the spherical coordinate system. According to the analysis of the multivariable potential energy surface, the relationship among multistable performance, under-actuated behavior and potential mechanism energy is studied. On account of under-actuated kinematic relationship and multistability of the proposed mechanism, a cable-driven approach is used and its feasibility is finally verified by the experiment of the prototype robot.","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124131375","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}

{"title":"Deployable Euler Spiral Connectors (DESCs)","authors":"Collin Ynchausti, S. Magleby, A. Bowden, L. Howell","doi":"10.1115/detc2019-97546","DOIUrl":"https://doi.org/10.1115/detc2019-97546","url":null,"abstract":"\u0000 Deployable Euler Spiral Connectors (DESCs) are introduced as a way to use compliant flexures that lay flat when under strain in a stowed position. This paper presents the design of DESCs using the Euler spiral equations. An application of a spinal device is presented as a proof-of-concept of the use of DESCs.","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121189614","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}

{"title":"Design of an Underactuated Legged Robot With Prismatic Legs for Passive Adaptability to Terrain","authors":"Seonghoon Noh, A. Dollar","doi":"10.1115/detc2019-98118","DOIUrl":"https://doi.org/10.1115/detc2019-98118","url":null,"abstract":"\u0000 Legged robots have the advantage of being able to maneuver unstructured terrains unlike their wheeled counterparts. However, many legged robots require multiple sensors and online computations to specify the gait, trajectory or contact forces in real-time for a given terrain, and these methods can break down when sensory information is unreliable or not available. Over the years, underactuated mechanisms have demonstrated great success in object grasping and manipulation tasks due to their ability to passively adapt to the geometry of the objects without sensors. In this paper, we present an application of underactuation in the design of a legged robot with prismatic legs that maneuvers unstructured terrains under open-loop control without any sensing. Through experimental results, we show that prismatic legs can support a statically stable stance and can facilitate locomotion over unstructured terrain while maintaining its body posture.","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"378 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116521363","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}

{"title":"Programmable Logic Gates Based on Tunable Multistable Mechanisms","authors":"M. Zanaty, H. Schneegans, I. Vardi, S. Henein","doi":"10.1115/detc2019-97647","DOIUrl":"https://doi.org/10.1115/detc2019-97647","url":null,"abstract":"\u0000 Binary logic operations are the building blocks of computing machines. In this paper, we present a new programmable binary logic gate based on programmable multistable mechanisms (PMM), which are multistable structures whose stability behavior depends on modifiable boundary conditions as defined and analyzed in our previous work. The logical state of a PMM is defined by its stability and logical operations are implemented by modifying the stability behavior of the mechanism.\u0000 Our programmable logic device has two qualitatively different sets of inputs. The first set determines the logic function to be computed. The second set represents the logical inputs. The output is a single logical value, “true” if the mechanism changes state and “false” otherwise. In this way, we are able to mechanically implement a set of binary logical operations.\u0000 This implementation is validated using an analytical model characterizing the qualitative stability behavior of the mechanism. This was further verified using finite element analysis and experimental demonstration.","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131479667","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}

{"title":"Study of a Biomimetic Energy-Efficient Thruster for Underwater Vehicles","authors":"G. Palmieri, M. Callegari, D. Costa, M. Palpacelli, D. Scaradozzi","doi":"10.1115/detc2019-97451","DOIUrl":"https://doi.org/10.1115/detc2019-97451","url":null,"abstract":"\u0000 The paper presents the dynamic optimization of a biomimetic thruster for autonomuos underwater vehicles with the goal of increasing the energy efficiency of the vehicle. The main design drivers of the project are: to design a propulsion system consisting in an oscillating caudal fin; to generate the motion of the fin by means of a mechanical transmission system; to replicate the effect of elastic internal structures on the propulsion of biological systems. The propulsion mechanism is optimized by means of analytic kinematic and hydrodynamic models, whose accuracy is verified by means of CFD simulation tools. Finally, in order to demonstrate the feasibility of the project, the mechanical design of the propulsion system is illustrated.","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127639038","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}

{"title":"Mobile Robot Obstacle Avoidance Based on Deep Reinforcement Learning","authors":"Shumin Feng","doi":"10.1115/DETC2019-97536","DOIUrl":"https://doi.org/10.1115/DETC2019-97536","url":null,"abstract":"\u0000 Obstacle avoidance is one of the core problems in the field of mobile robot autonomous navigation. This paper aims to solve the obstacle avoidance problem using Deep Reinforcement Learning. In previous work, various mathematical models have been developed to plan collision-free paths for such robots. In contrast, our method enables the robot to learn by itself from its experiences, and then fit a mathematical model by updating the parameters of a neural network. The derived mathematical model is capable of choosing an action directly according to the input sensor data for the mobile robot. In this paper, we develop an obstacle avoidance framework based on deep reinforcement learning. A 3D simulator is designed as well to provide the training and testing environments. In addition, we developed and compared obstacle avoidance methods based on different Deep Reinforcement Learning strategies, such as Deep Q-Network (DQN), Double Deep Q-Network (DDQN) and DDQN with Prioritized Experience Replay (DDQN-PER) using our simulator.","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122407869","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}

{"title":"Semi-Autonomous Teleoperation, Guidance, and Obstacle Avoidance With Path Adherence","authors":"Daniel Budolak, Raghuraj J. Chauhan, P. Ben-Tzvi","doi":"10.1115/detc2019-97529","DOIUrl":"https://doi.org/10.1115/detc2019-97529","url":null,"abstract":"\u0000 Decreasing user effort and automating subtasks such as obstacle avoidance and user guidance has shown to increase the effectiveness and utility of teleoperation. Extending the capabilities of teleoperation remains a critical research topic for tasks that need to leverage user knowledge, or for unstructured environments that autonomous solutions are not robust enough to handle. Previous methods have focused individually on joint space tasks, regression or training based user intention recognition and intervention, or application specific solutions. To overcome the limitations of these methods, this paper proposes the use of path planning based gross motion assistance with a projection based user intention recognition method, for improving task execution in semi-autonomous teleoperation. The proposed solution synthesizes an assistive architecture that leverages the benefit of supervisory level task identification with semi-autonomous trajectory tracking. With the proposed method, continuous and more immersive teleoperation is achieved, as control states are user selected and task execution is informed from the operator’s motion. The effectiveness of the proposed method is validated with a user study.","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132027157","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}

{"title":"Creating Robust Passive Multi-Loop Wearable Hand Devices","authors":"N. Robson, Binyun Chen, J. Won, G. Soh","doi":"10.1115/detc2019-97623","DOIUrl":"https://doi.org/10.1115/detc2019-97623","url":null,"abstract":"This paper describes a process for assessing multi-loop wearable devices that use a common slider to passively drive the exo-fingers for the physical training of people with limited hand mobility. Each finger design, except for the thumb, is based on an RRR serial chain, termed backbone, constrained into a multi-loop eight-bar slider mechanism using two RR constraints. The thumb utilizes a planar RR backbone chain constrained into a parallel four bar slider. During the physical task acquisition experiments, the subject’s tip finger trajectories are captured using an optical motion capture and its dimensions are set such that they match each of the fingers kinematics as closely as possible. The dimensional synthesis procedure can yield a variety of design candidates that fulfill the desired fingertip precision grasping trajectory. Once it is ensured that the synthesized fingertip motion is close to the physiological fingertip grasping trajectories, performance assessment criteria related to user-device interference and natural joint angle movement are taken into account. After the most preferred design for each finger is chosen, minor modifications related to substituting the backbone chain with the wearer’s limb to provide the skeletal structure of the customized passive device are made. To illustrate the proposed technique, the development of a 3D prototype model of a passively actuated Closed Loop Articulated Wearable (CLAW) hand is presented. The CLAW hand performance with respect to wear-ability and robustness was assessed. Preliminary test results with healthy subjects show that the CLAW hand is easy to operate and able to guide the user’s fingers without causing any discomfort, ensuring both, precision and power grasping in a natural manner. The lack of electrical actuators and sensors simplifies the control, resulting in a lightweight and cost-effective solution for grasping of a variety of objects with different sizes. This work establishes the importance of incorporating novel design candidate assessment techniques, based on human finger kinematic models, within the conceptual design level that can assist in finding robust design candidates with naturalistic joint motion.","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"153 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134028082","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}

{"title":"Dynamic Analysis of the 3-RRPS Metamorphic Parallel Mechanism Based on Instantaneous Screw Axis","authors":"Latifah Nurahmi, D. Gan","doi":"10.1115/detc2019-97851","DOIUrl":"https://doi.org/10.1115/detc2019-97851","url":null,"abstract":"\u0000 The 3-rRPS metamorphic parallel mechanism can change its configurations thanks to the reconfigurable (rR) joint. The analysis in this paper will focus on one specific configuration where the moving-platform is able to perform 2-dof coupled rotational motions and 1-dof translational motion, which is well-known as 1T2R motion. In this configuration, the mechanism has two types of operation modes, i.e. x0 = 0 and x3 = 0, which have been extensively studied by many researchers. However, the dynamic behaviours of the mechanism in those two operation modes have not been studied. Accordingly, this paper presents the dynamic analysis of the 3-rRPS metamorphic parallel mechanism in both operation modes based on the Instantaneous Screw Axis (ISA). The types of operation mode are initially characterized by means of Euler-Quaternion parameters. The time derivative of transformation matrix is performed in each operation mode and the ISA can be determined. By using the ISA, velocities and accelerations of all points on the moving-platform can be evaluated, which become the foundation of the dynamic analysis in this paper. This approach can be applied to parallel mechanisms having multiple operation modes of different mobility.","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124216244","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}