Volume 5A: 43rd Mechanisms and Robotics Conference最新文献_第6页

Flexion and Extension Capable Motor Tendon Actuated Exosuit Glove With Open Palm 可弯曲和伸展的运动肌腱驱动外太空服手套，手掌张开

Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/detc2019-98467

Georgia S. Patterson, Tyler D. Zell, David E. Parker, J. Grieve, Samuel C. Watson, V. Vikas

{"title":"Flexion and Extension Capable Motor Tendon Actuated Exosuit Glove With Open Palm","authors":"Georgia S. Patterson, Tyler D. Zell, David E. Parker, J. Grieve, Samuel C. Watson, V. Vikas","doi":"10.1115/detc2019-98467","DOIUrl":"https://doi.org/10.1115/detc2019-98467","url":null,"abstract":"\u0000 Patients suffering from medical conditions resulting in hand impairment experience difficulty in performing simple daily tasks, like getting dressed or using a pencil, resulting in a poorer quality of life. Rehabilitation attempts to help such individuals regain a sense of control and normalcy. In this context, recent advances in robotics have manifested in multiple designs of hand exoskeletons and exosuit gloves for assistance and rehabilitation. These designs are typically actuated using pneumatic, shape memory alloys and motor-tendon actuators. The proposed Motor Tendon Actuated Exosuit Glove (MTAEG) with an open palm is a soft material glove capable of both flexion and extension of all four fingers of the human hand. Its minimally invasive design maintains an open palm to facilitate haptic and tactile interaction with the environment. The MTAEG achieves flexion-extension motion with joint angles of 45° at the metacarpal joint which is 57% of the desired motion; 90° at the proximal interphalangeal joint which is 100% of the desired motion; and 50° at the distal interphalangeal joint which is 96% of the desired motion. The paper discusses the challenges in achieving the desired motion without the ability to directly model human tendons, and the inability to actuate joints individually.","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115499917","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: 0

Optimization of a 2DOF Positioning Stage Using Corrugated Flexure Units Under Stress Constraints 应力约束下波纹柔性单元二自由度定位平台的优化设计

Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/detc2019-97758

Nianfeng F. Wang, F. Yue, Canran Li, Xianmin Zhang

引用次数: 1

Determining the Number of Distinct Solutions in Planar Mechanism Design 平面机构设计中不同解数的确定

Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/detc2019-97360

Lawrence W. Funke, Jonathan Raney, Cyler Caldwell

{"title":"Determining the Number of Distinct Solutions in Planar Mechanism Design","authors":"Lawrence W. Funke, Jonathan Raney, Cyler Caldwell","doi":"10.1115/detc2019-97360","DOIUrl":"https://doi.org/10.1115/detc2019-97360","url":null,"abstract":"\u0000 This work investigates two novel approaches to sorting solutions to planar-mechanism-synthesis problems. The examples contained herein are specific to planar morphing mechanisms, but the procedure is general and can easily be extended to any planar-mechanism-synthesis problem. The results indicate that the two approaches, namely self-organizing map (SOM) neural network and modal assurance criterion (MAC), can be used to sort a set of solution mechanisms into a reduced set of distinct solution groups. Additionally two sorting approaches (inclusive and exclusive) were investigated. This process can be used to take the initial set of solution mechanisms, often numbering in the hundreds, and pare it down to a significantly smaller set of substantially different designs. For the two case studies presented herein, one set was reduced by a factor of ten and the other by a factor of five. This means that a designer has fewer mechanisms to look through and that the differences in these mechanisms are clearer so that considerations such as size and joint locations may more easily be considered. It was found that the MAC method with inclusive sorting is generally a better starting point because it runs quickly and gives a more compact set of distinct solution mechanisms. The paper concludes with some recommendations for best practices for sorting solutions for a general mechanism-design problem.","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132925931","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: 0

On the End-Point Deflection of Static Balanced Manipulators With Various Spring Configurations 不同弹簧构型静平衡机械臂末端挠度的研究

Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/detc2019-97411

Chi-Shiun Jhuang, Dar-Zen Chen

引用次数: 0

Powered Ankle-Foot Prostheses: A Survey on Sensing Systems and Control Strategies 动力踝足假肢:传感系统与控制策略综述

Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/detc2019-97511

Erik Chumacero-Polanco, Jie Yang

{"title":"Powered Ankle-Foot Prostheses: A Survey on Sensing Systems and Control Strategies","authors":"Erik Chumacero-Polanco, Jie Yang","doi":"10.1115/detc2019-97511","DOIUrl":"https://doi.org/10.1115/detc2019-97511","url":null,"abstract":"\u0000 People who have suffered a transtibial amputation show diminished ambulation and impaired quality of life. Powered ankle foot prostheses (AFP) are used to recover some mobility of transtibial amputees (TTAs). Powered AFP is an emerging technology that has great potential to improve the quality of life of TTAs with important avenues for research and development in different fields. This paper presents a survey on sensing systems and control strategies applied to powered AFPs. Sensing kinematic and kinetic information in powered AFPs is critical for control. Ankle angle position is commonly obtained via potentiometers and encoders directly installed on the joint, velocities can be estimated using numerical differentiators, and accelerations are normally obtained via inertial measurement units (IMUs). On the other hand, kinetic information is usually obtained via strain gauges and torque sensors. On the other hand, control strategies are classified as high- and low-level control. The high-level control sets the torque or position references based on pattern generators, user’s intent of motion recognition, or finite-state machine. The low-level control usually consists of linear controllers that drive the ankle’s joint position, velocity, or torque to follow an imposed reference signal. The most widely used control strategy is the one based on finite-state machines for the high-level control combined with a proportional-derivative torque control for low-level. Most designs have been experimentally assessed with acceptable results in terms of walking speed. However, some drawbacks related to powered AFP’s weight and autonomy remain to be overcome. Future research should be focused on reducing powered AFP size and weight, increasing energy efficiency, and improving both the high- and the low-level controllers in terms of efficiency and performance.","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"276 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124453931","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: 0

Image-Based Motion Analysis for Self-Reconfigurable Mobile Robot With Integrated Docking 基于图像的集成对接自重构移动机器人运动分析

Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/detc2019-97530

Shubhdildeep S. Sohal, P. Ben-Tzvi

引用次数: 1

Design of Four-, Six-, and Eight-Bar Linkages for Rectilinear Movement 直线运动四杆、六杆和八杆机构的设计

Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/detc2019-98389

Xueao Liu, J. Glabe, H. Wu, Chunjie Wang, J. McCarthy

引用次数: 2

Analyzing the Effect of Prestressing Forces on Selective Compliant Mechanisms: A Case Study 分析预应力对选择柔顺机制的影响:一个案例研究

Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/detc2019-97799

K. Mauser, Jan Friese, A. Hasse

{"title":"Analyzing the Effect of Prestressing Forces on Selective Compliant Mechanisms: A Case Study","authors":"K. Mauser, Jan Friese, A. Hasse","doi":"10.1115/detc2019-97799","DOIUrl":"https://doi.org/10.1115/detc2019-97799","url":null,"abstract":"\u0000 Once it is designed, the stiffness of a compliant mechanism is not intended to be changed in order to adapt to special operation conditions. Nevertheless, various operation tasks e.g. mechanical grippers, would benefit from such a feature. The effect of axial compression forces, however, is well known to reduce the transverse stiffness of beam-like structures. This paper deals with the effect of prestressing forces on compliant mechanisms. For this purpose, a mathematical description for a modal analysis of compliant mechanisms — based on the author’s former publications — is presented first. Building on this and using a compliant mechanism with one desired translational motion as example, the effect of prestressing forces on the desired deformation and its related stiffness value is analyzed using conventional methods which are based on the Bernoulli-Euler beam equation. However, these methods do not usually consider the undesirable deformations of a mechanism. The modal analysis mentioned above is therefore used in order to examine the effect of prestressing forces on both the desired and undesired deformations. In this analysis, two different compliant mechanisms in several load cases are examined.","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125155658","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: 1

Playing a Musical Saw With a Humanoid Robot: Investigation for Industrial Automation 用人形机器人演奏音乐锯:工业自动化研究

Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/detc2019-97731

A. Mishima, Yusuke Fuke, A. Miura, T. Hirogaki, E. Aoyama

引用次数: 0

Improving Hole-Searching Accuracy for Peg-in-Hole Assembly With Manipulator Harmonic Drive Uncertainty 利用机械手谐波驱动不确定性提高铰孔总成寻孔精度

Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/detc2019-97503

Po-Yu Chen, Kuei-Yuan Chan

引用次数: 2