ROBOMECH Journal最新文献

Computer vision-based visualization and quantification of body skeletal movements for investigation of traditional skills: the production of Kizumi winnowing baskets 基于计算机视觉的身体骨骼运动可视化和量化，用于传统技艺研究：Kizumi 绞篮的制作

IF 1.4

ROBOMECH Journal Pub Date : 2024-09-17 DOI: 10.1186/s40648-024-00280-4

Peng Yang, Yuka Furukawa, Migiwa Imaishi, Mitsunori Kubo, Akira Ueda

引用次数: 0

Measuring unit for synchronously collecting air dose rate and measurement position 同步采集空气剂量率和测量位置的测量装置

IF 1.4

ROBOMECH Journal Pub Date : 2024-09-04 DOI: 10.1186/s40648-024-00279-x

Kuniaki Kawabata, Takashi Imabuchi, Norihito Shirasaki, Soichiro Suzuki, Rintaro Ito, Yuto Aoki, Takazumi Omori

引用次数: 0

Analysis of convection flow of a self-propelled alcohol droplet in an exoskeleton frame 外骨骼框架中自推进酒精液滴的对流分析

IF 1.4

ROBOMECH Journal Pub Date : 2024-06-13 DOI: 10.1186/s40648-024-00278-y

Tamako Suzuki, Hideyuki Sawada

引用次数: 0

Origami manipulation by robot hand utilizing electroadhesion 利用电凝聚力的机械手进行折纸操作

IF 1.4

ROBOMECH Journal Pub Date : 2024-06-08 DOI: 10.1186/s40648-024-00277-z

Hiroto Kitamori, Chenyu Dong, Masaru Takizawa, Shuya Watanabe, Jun Shintake, Kohei Kimura, Shunsuke Kudoh

引用次数: 0

Length control of a McKibben pneumatic actuator using a dynamic quantizer 使用动态量化器对麦基本气动执行器进行长度控制

IF 1.4

ROBOMECH Journal Pub Date : 2024-05-02 DOI: 10.1186/s40648-024-00276-0

Yasuhiro Sugimoto, Keisuke Naniwa, Daisuke Nakanishi, Koichi Osuka

引用次数: 0

Interactive driving of electrostatic film actuator by proximity motion of human body 人体近距离运动对静电薄膜致动器的交互式驱动

IF 1.4

ROBOMECH Journal Pub Date : 2024-04-15 DOI: 10.1186/s40648-024-00275-1

Akira Okuno, Shunsuke Yoshimoto, Akio Yamamoto

引用次数: 0

Development and flight-test verification of two-dimensional rotational low-airspeed sensor for small helicopters 小型直升机二维旋转低空速度传感器的开发和试飞验证

IF 1.4

ROBOMECH Journal Pub Date : 2024-04-09 DOI: 10.1186/s40648-024-00274-2

Daigo Fujiwara, Takumi Tonoike

{"title":"Development and flight-test verification of two-dimensional rotational low-airspeed sensor for small helicopters","authors":"Daigo Fujiwara, Takumi Tonoike","doi":"10.1186/s40648-024-00274-2","DOIUrl":"https://doi.org/10.1186/s40648-024-00274-2","url":null,"abstract":"This paper describes the development and the verification of flight test results of a differential pressure-based, two-dimensional low-airspeed sensor designed for the navigation or disturbance detection in small helicopters. The compact and lightweight sensor is integrated with the main rotor of a small helicopter and comprises two probes at both arm ends, a differential pressure sensor, rotary encoder with one magnet and two sensors, microcomputer, a wireless data link, and battery. It measures the differential pressure between the total pressures captured by two total-pressure probes at each rotor angle, instead of using static pressure probes. Thus, the airspeed of the fuselage can be evaluated from the low speed. Flight tests were conducted employing a reference ultrasonic two-dimensional airspeed sensor for comparison. The results demonstrated that the magnitude error of the airspeed is less than 2 m/s for low-airspeed flights ( $$<sim$$ 23 m/s) when utilizing Pitot-type probes. The error in wind angle approximated 30 $$^circ$$ , and the delay was less than or equal to that observed with a global navigation satellite system sensor.","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":null,"pages":null},"PeriodicalIF":1.4,"publicationDate":"2024-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140595325","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

Tactile sensor-less fingertip contact detection and force estimation for stable grasping with an under-actuated hand 无需触觉传感器的指尖接触检测和力估算，实现动力不足手的稳定抓取

IF 1.4

ROBOMECH Journal Pub Date : 2024-04-05 DOI: 10.1186/s40648-024-00273-3

Ha Thang Long Doan, Hikaru Arita, Kenji Tahara

{"title":"Tactile sensor-less fingertip contact detection and force estimation for stable grasping with an under-actuated hand","authors":"Ha Thang Long Doan, Hikaru Arita, Kenji Tahara","doi":"10.1186/s40648-024-00273-3","DOIUrl":"https://doi.org/10.1186/s40648-024-00273-3","url":null,"abstract":"Detecting contact when fingers are approaching an object and estimating the magnitude of the force the fingers are exerting on the object after contact are important tasks for a multi-fingered robotic hand to stably grasp objects. However, for a linkage-based under-actuated robotic hand with a self-locking mechanism to realize stable grasping without using external sensors, such tasks are difficult to perform when only analyzing the robot model or only applying data-driven methods. Therefore, in this paper, a hybrid of previous approaches is used to find a solution for realizing stable grasping with an under-actuated hand. First, data from the internal sensors of a robotic hand are collected during its operation. Subsequently, using the robot model to analyze the collected data, the differences between the model and real data are explained. From the analysis, novel data-driven-based algorithms, which can overcome noted challenges to detect contact between a fingertip and the object and estimate the fingertip forces in real-time, are introduced. The proposed methods are finally used in a stable grasp controller to control a triple-fingered under-actuated robotic hand to perform stable grasping. The results of the experiments are analyzed to show that the proposed algorithms work well for this task and can be further developed to be used for other future dexterous manipulation tasks.","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":null,"pages":null},"PeriodicalIF":1.4,"publicationDate":"2024-04-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140567113","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

A ball-jointed tendon-driven continuum robot with multi-directional operability for grasping objects 可多方位抓取物体的球关节腱驱动连续机器人

IF 1.4

ROBOMECH Journal Pub Date : 2024-03-26 DOI: 10.1186/s40648-024-00272-4

Ryo Onose, Hideyuki Sawada

{"title":"A ball-jointed tendon-driven continuum robot with multi-directional operability for grasping objects","authors":"Ryo Onose, Hideyuki Sawada","doi":"10.1186/s40648-024-00272-4","DOIUrl":"https://doi.org/10.1186/s40648-024-00272-4","url":null,"abstract":"A continuum robot, inspired by biological features, flexibly bends its body and conforms to various shapes. The high compliance and low stiffness, however, causes low rigidity and ambiguity in control when it is applied to grasping and manipulating an object. In this study, we develop a ball-jointed tendon-driven continuum robot that can bend to arbitrary directions for manipulating and grasping an object. Discs are connected by ball joints, together with coil springs coupled with tendon threads, and form a backbone of the robotic body. The continuum robot is operated to bend to an arbitrary direction by pulling the tendons using three servomotors, and returns to the original straight shape by releasing the pulling force of the contracted coil springs. The robot is constructed by using 3D-printed parts. In the experiment, the ability of the multi-directional operation was tested by bending the continuum body to specific directions, and then performing arc-following motion. Furthermore, the manipulator's grasping performance was demonstrated by preparing five objects that have various shapes, sizes, and softness. The robot successfully grasped all the objects by wrapping around them and adapting its shape to the object's shapes. The experiments verified the satisfactory operability of the continuum robot.","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":null,"pages":null},"PeriodicalIF":1.4,"publicationDate":"2024-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140302549","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

Automatic grasp planning for self-adjustable gripper frames 自动调整抓取框架的抓取规划

IF 1.4

ROBOMECH Journal Pub Date : 2024-03-02 DOI: 10.1186/s40648-024-00271-5

Jeroen Cramer, Martijn Cramer, Karel Kellens

引用次数: 0