Volume 8A: 45th Mechanisms and Robotics Conference (MR)最新文献

Fourier Analysis Guided Cable Actuator Design for Coordinated Walking Assistance 协调行走辅助的傅立叶分析导向索致动器设计

Volume 8A: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-67808

Chong Liu, Rand Hidayah, S. Agrawal

{"title":"Fourier Analysis Guided Cable Actuator Design for Coordinated Walking Assistance","authors":"Chong Liu, Rand Hidayah, S. Agrawal","doi":"10.1115/detc2021-67808","DOIUrl":"https://doi.org/10.1115/detc2021-67808","url":null,"abstract":"\u0000 Cable-driven exoskeletons add minimal inertia and restrictions to the user’s leg while still providing feedback and quantitative measures of the user’s performance. However, cable robots require at least n + 1 cables to control n degrees-of-freedom, i.e., they require more actuators than the leg’s degrees-of-freedom, challenging their widespread adoption as wearable technology. The state-of-the-art in this field aims to reduce the number of actuated motors.\u0000 In this paper, we design and evaluate a “single motor-driven” leg exoskeleton prototype based on the Cable-driven Active Leg EXoskleton (C-ALEX). The prototype consists of four crank-spring mechanisms and a crankshaft designed using epicycle analysis. The epicycle analysis is performed using discrete Fourier transform (DFT) and sine curve fitting (SCF). While DFT suggests the maximum number of epicycles to imitate the target waveform, a large number of nested epicycles is challenging to design and manufacture for implementation. To validate the epicycle-guided design, we constructed a simple crankshaft model using one epicycle. Our proposed simplified model predicted and produced the joint angles calculated from the inverse and forward kinematics of a cable-driven leg exoskeleton with multiple motors. To our knowledge, this is the first multi-cable driven exoskeleton powered by a single actuator that is designed to provide continuous assistance to the user.","PeriodicalId":446323,"journal":{"name":"Volume 8A: 45th Mechanisms and Robotics Conference (MR)","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117218756","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

Design of a Planar Cable-Driven Parallel Crane Without Parasitic Tilt 无寄生倾斜平面缆索驱动并联起重机的设计

Volume 8A: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-71778

Lionel Étienne, P. Cardou, Marceau Métillon, S. Caro

{"title":"Design of a Planar Cable-Driven Parallel Crane Without Parasitic Tilt","authors":"Lionel Étienne, P. Cardou, Marceau Métillon, S. Caro","doi":"10.1115/detc2021-71778","DOIUrl":"https://doi.org/10.1115/detc2021-71778","url":null,"abstract":"\u0000 Cable-Driven Parallel Robots (CDPRs) offer high payload capacities, large translational workspace and high dynamics performances. Their rotational workspace is generally far more limited, however, which can be resolved by using cable loops, as was shown in previous research. In the case of fully-constrained CDPRs, cable loops can induce unwanted torques on the moving-platform, causing it to tilt and move away from its intended position, which we call parasitic tilt. Hence, the orientation accuracy of such robots is usually limited. This paper deals with the design, modelling and prototyping of a planar CDPR with infinite rotations, without parasitic tilt and without an additional motor. This robot, which we call a Cable-Driven Parallel Crane (CDPC), is composed of a mobile platform (MP) with an embedded mechanism and a transmission module. The MP is linked with the frame by a parallelogram of three cables to constrain its orientation, including a cable loop, as well as a fourth cable. The two-degree-of-freedom (dof) motions of the moving-platform of the CDPC and the internal dof of its embedded mechanism are actuated by a total of three actuators, which are fixed to the frame. As a consequence, the overall system is fully-actuated, its total mass and inertia in motion is reduced and it is free of parasitic tilts.","PeriodicalId":446323,"journal":{"name":"Volume 8A: 45th Mechanisms and Robotics Conference (MR)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127097043","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

Type Synthesis of Long Symmetric Planar Shape-Morphing Mechanism Arrays 长对称平面变形机构阵列的类型综合

Volume 8A: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-71616

C. Lusk

引用次数: 0

Autonomous Robotic Subcutaneous Injection Under Near-Infrared Image Guidance 近红外图像引导下自主机器人皮下注射

Volume 8A: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-69087

Dingliang Huang, Bing Hu, Yinna Chen, Yu Chen, Liangchen Sui, Zhaoyang Wang, Yijun Jiang, Z. Ren, Yuxuan Wang, Xuechun Cao, Peng Qi

{"title":"Autonomous Robotic Subcutaneous Injection Under Near-Infrared Image Guidance","authors":"Dingliang Huang, Bing Hu, Yinna Chen, Yu Chen, Liangchen Sui, Zhaoyang Wang, Yijun Jiang, Z. Ren, Yuxuan Wang, Xuechun Cao, Peng Qi","doi":"10.1115/detc2021-69087","DOIUrl":"https://doi.org/10.1115/detc2021-69087","url":null,"abstract":"\u0000 Subcutaneous injections are administered into the region beneath the skin, while avoiding puncturing the blood vessels, which gives many types of medications for various medical conditions. In this paper, a portable robotic system performing autonomous cannulation of subcutaneous injections is proposed, and it achieves to automatically locate the proper injection site by analyzing near-infrared (NIR) image sequences. The robot mainly consists of two functional modules-image processing module and motion control module. The former with a full-search algorithm processes the images obtained by the NIR equipment. The puncture point is selected in the area where there are no blood vessels and a method of “range square” is utilized. The motion control module of the robotic system employs the pulse width modulation (PWM) wave to effectively control the motors and manipulates the syringe to puncture at the selected point. The image processing algorithm was evaluated based on the real NIR images of volunteers’ hands and forearms, and the image servo control of the robot was tested on the phantom. The experimental results were analyzed by a medical professional, and the success rate of the image processing algorithm is 96.09%, while the puncture time can satisfy the clinical demand for the efficiency of puncture procedures.","PeriodicalId":446323,"journal":{"name":"Volume 8A: 45th Mechanisms and Robotics Conference (MR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124548636","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 Novel Approach With Bayesian Networks to Multi-Robot Task Allocation in Dynamic Environments 动态环境下多机器人任务分配的贝叶斯网络新方法

Volume 8A: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-66902

Ching-Wei Chuang, Harry H. Cheng

{"title":"A Novel Approach With Bayesian Networks to Multi-Robot Task Allocation in Dynamic Environments","authors":"Ching-Wei Chuang, Harry H. Cheng","doi":"10.1115/detc2021-66902","DOIUrl":"https://doi.org/10.1115/detc2021-66902","url":null,"abstract":"\u0000 In the modern world, building an autonomous multi-robot system is essential to coordinate and control robots to help humans because using several low-cost robots becomes more robust and efficient than using one expensive, powerful robot to execute tasks to achieve the overall goal of a mission. One research area, multi-robot task allocation (MRTA), becomes substantial in a multi-robot system. Assigning suitable tasks to suitable robots is crucial in coordination, which may directly influence the result of a mission. In the past few decades, although numerous researchers have addressed various algorithms or approaches to solve MRTA problems in different multi-robot systems, it is still difficult to overcome certain challenges, such as dynamic environments, changeable task information, miscellaneous robot abilities, the dynamic condition of a robot, or uncertainties from sensors or actuators. In this paper, we propose a novel approach to handle MRTA problems with Bayesian Networks (BNs) under these challenging circumstances. Our experiments exhibit that the proposed approach may effectively solve real problems in a search-and-rescue mission in centralized, decentralized, and distributed multi-robot systems with real, low-cost robots in dynamic environments. In the future, we will demonstrate that our approach is trainable and can be utilized in a large-scale, complicated environment. Researchers might be able to apply our approach to other applications to explore its extensibility.","PeriodicalId":446323,"journal":{"name":"Volume 8A: 45th Mechanisms and Robotics Conference (MR)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131999546","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

Comparison of Neural Network-Based Pose Estimation Approaches for Mobile Manipulation 基于神经网络的移动操作姿态估计方法比较

Volume 8A: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-69800

A. B. Chowdhury, Juncheng Li, D. Cappelleri

引用次数: 0

A Compliant Micromechanism for Biaxially Stretching Biological Cells 生物细胞双轴拉伸的柔性微机制

Volume 8A: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-68421

Neeraj Singh Fartyal, Himanshu Marwah, Sreenath Balakrishnan

{"title":"A Compliant Micromechanism for Biaxially Stretching Biological Cells","authors":"Neeraj Singh Fartyal, Himanshu Marwah, Sreenath Balakrishnan","doi":"10.1115/detc2021-68421","DOIUrl":"https://doi.org/10.1115/detc2021-68421","url":null,"abstract":"\u0000 Biological cells are known to respond to mechanical forces. Diverse biological phenomena such as tissue development and cancer are regulated by mechanical forces acting on cells. One such mechanical loading found in various tissues such as alveoli, pericardium, blood vessels, and urinary bladder is biaxial stretching. To study the effect of such a loading pattern, it is necessary to develop mechanical tools that can apply controlled biaxial stretching on cells. Here we present the design for such a device, a compliant micromechanism for biaxially stretching single cells.\u0000 We first designed a compliant, double-input, biaxial stretching mechanism based on re-entrant structures. Various stretch ratios, defined as the ratio between deformations in orthogonal directions, could be obtained by changing the dimensions of this mechanism. Next, we derived an analytical expression relating the geometric parameters to the stretch ratio. This analytical expression was verified using finite element analysis. By numerically solving this expression, multiple designs for a desired stretch ratio were obtained. Furthermore, we converted our design into a single-input mechanism by coupling the double-input biaxial stretcher to a single-input gripper mechanism. Finally, we demonstrate the functioning of our design using a macroscale, 3D-printed version.","PeriodicalId":446323,"journal":{"name":"Volume 8A: 45th Mechanisms and Robotics Conference (MR)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130987254","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

Effect of Matching Buckling Loads on Post-Buckling Behavior in Compliant Mechanisms 屈曲载荷匹配对柔性机构后屈曲行为的影响

Volume 8A: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-68439

A. Numić, T. Blad, F. van Keulen

引用次数: 1

Design and Actuation of a Skeleton for a Robotic Fish 机器鱼骨架的设计与驱动

Volume 8A: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-69688

D. Abulon, Jiaji Li, J. McCarthy

引用次数: 0

Development and Characterization of a Modular Soft Actuator Enabled Elbow Exoskeleton for Assistive Movements 模块化软致动器支持肘关节外骨骼辅助运动的开发与表征

Volume 8A: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-71549

Veysel Erel, Inderjeet Singh, A. R. Lindsay, W. Shi, M. Wijesundara

{"title":"Development and Characterization of a Modular Soft Actuator Enabled Elbow Exoskeleton for Assistive Movements","authors":"Veysel Erel, Inderjeet Singh, A. R. Lindsay, W. Shi, M. Wijesundara","doi":"10.1115/detc2021-71549","DOIUrl":"https://doi.org/10.1115/detc2021-71549","url":null,"abstract":"\u0000 Exoskeletons are poised to provide motion assistance to aid in rehabilitation and compensate for muscle weaknesses, augment human performance, and reduce repetitive stress injuries in healthcare, industry, and occupation settings, respectively. Soft actuator enabled systems are gaining widespread attention due to their mechanical simplicity, low weight, and compliance to the human body. Regardless of promises shown, the progress for these systems is slow due to a wide variety of actuator types and geometries, which complicate designs and model predictive performance to create application-specific systems. Learning from conventional hard robotic actuator approaches, this paper investigates a modular actuator concept that can be used for creating many exoskeletons and is easily customized for fitting different sized humans, joint types, and application scenarios. The preliminary investigation details the development of an elbow exoskeleton by implementing a modular corrugated diaphragm actuator arranged in a serial configuration. Numerical simulation and experimental evaluations were carried out to investigate the torque, load-bearing, and motion characteristics of the exoskeleton. Results confirmed the viability of the concept by showing that the exoskeleton can provide assistive motion to a forearm and hand of average weight. Additionally, the exoskeleton is able to apply continuous passive motion to an elbow joint, which can be used in rehabilitation settings.","PeriodicalId":446323,"journal":{"name":"Volume 8A: 45th Mechanisms and Robotics Conference (MR)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134057410","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