Journal of Mechanisms and Robotics-Transactions of the Asme最新文献_第3页

Design and Implementation of Upper-Body Exoskeleton for Assistance of Individuals With Manual Handling Tasks 上肢外骨骼的设计与实现，以协助个人的体力处理任务

4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-10-16 DOI: 10.1115/1.4063455

Bing Chen, Xiang Ni, Bin Zi, Qingsong Xu, Jun Qian

{"title":"Design and Implementation of Upper-Body Exoskeleton for Assistance of Individuals With Manual Handling Tasks","authors":"Bing Chen, Xiang Ni, Bin Zi, Qingsong Xu, Jun Qian","doi":"10.1115/1.4063455","DOIUrl":"https://doi.org/10.1115/1.4063455","url":null,"abstract":"Abstract This paper illustrates the design and testing of an upper-body exoskeleton for the assistance of individuals with load-lifting and load-carrying tasks, and the provided assistive force can well match with the force required by the human. First, the biomechanics of the human lumbar during the squat lifting of an object is described. Next, the modeling of the exoskeleton is introduced. Additionally, the hardware design of the exoskeleton is presented. The exoskeleton is mainly composed of a back-assist mechanism and an upper extremity labor-saving mechanism, which can assist the wearer’s lumbar during the squat lifting of an object and assist the wearer’s arms to carry an object during walking, respectively. Finally, experiments are conducted to evaluate the performance of the developed upper-body exoskeleton. The experimental results demonstrate that the exoskeleton has the potential to provide assistance for individuals with manual handling tasks. An average assistive force of 44.8 N can be provided for the wearer to lift a 10-kg object. During the squat lifting of the 10-kg object, reductions of 31.86% and 28.30% of the average muscle activities of the wearer’s lumbar erector spinae and thoracic erector spinae are observed, respectively. In addition, a reduction of 23.78% of the average muscle activity of the wearer’s biceps brachii is observed during walking while carrying the 10-kg object.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136078563","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

An Improved Static Model for Bidirectional Notched Continuum Robot Considering the Cable-tension Loss 考虑缆索张力损失的双向缺口连续机器人改进静态模型

4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-10-16 DOI: 10.1115/1.4063454

Zhengyu Wang, Zirui Jia, Sen Qian, Daoming Wang, Xiang Yu, Xuchang Liu

{"title":"An Improved Static Model for Bidirectional Notched Continuum Robot Considering the Cable-tension Loss","authors":"Zhengyu Wang, Zirui Jia, Sen Qian, Daoming Wang, Xiang Yu, Xuchang Liu","doi":"10.1115/1.4063454","DOIUrl":"https://doi.org/10.1115/1.4063454","url":null,"abstract":"Abstract The notched continuum mechanism is particularly suitable for natural orifice transluminal surgery benefiting from its small size and hollow structure. However, the widely used kinematic model based on constant curvature assumption does not reveal the actual deformation of the continuum mechanism, and its control accuracy is unstable, while the general mechanics model has the problem that the tension of the distal driving cable is difficult to measure. In this paper, a nonconstant curvature static model for a bidirectional V-shaped notched continuum mechanism is presented. The deformation of each part of the continuum mechanism from the distal end to the proximal end is analyzed in turn. The tension loss of the driving cable caused by the contact with the continuum mechanism is modeled using the capstan equation. The recursive equation between the deformation of each part of the continuum mechanism from the proximal end is derived, which can be solved numerically. The bending state of the continuum mechanism can then be estimated when only the tension of the proximal flexible cable is known. The model is experimentally verified by driving the continuum mechanism to move at a very low speed. The experiment results show that the estimation effect of the proposed model is significantly improved compared with that of the constant curvature model.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136078564","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Towards Design Guidelines for Multidirectional Patient Transfer on a Bed Surface Using Traveling Waves 利用行波在床面上进行多方向病人转移的设计指南

4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-10-16 DOI: 10.1115/1.4063573

Mahshid Mansouri, Elizabeth Hsiao-Wecksler, Girish Krishnan

{"title":"Towards Design Guidelines for Multidirectional Patient Transfer on a Bed Surface Using Traveling Waves","authors":"Mahshid Mansouri, Elizabeth Hsiao-Wecksler, Girish Krishnan","doi":"10.1115/1.4063573","DOIUrl":"https://doi.org/10.1115/1.4063573","url":null,"abstract":"Patients who have limited body movement ability need assistance with frequent repositioning and transfers from their caregivers. These common manual tasks are physically strenuous for caregivers. To minimize caregiver physical effort, several assistive devices have been proposed. However, most devices have complex designs, are expensive, can only move the patient in one direction, or still need the caregiver's intervention. Inspired by natural waves such as water waves that can carry objects, this study presents actuator-agnostic design guidelines for moving a body on a bed surface using traveling waves as an alternative solution. Specifically, this study explores how transportation speed and movement smoothness are affected by wave parameters such as the wavelength, wave amplitude, number of the actuators used to create the wave profile, and their movement pattern. Additional requirements for moving an elastic object, such as a human body, were also established to minimize the stiffness of the interface layer between the body and wave particles. Results suggest that transportation speed is linearly proportional to wave frequency and horizontal displacement of the wave actuators. Maximizing the number of actuators while minimizing wave amplitude and wavelength will increase the smoothness. Meanwhile, the wavelength must be at least half of the object length to ensure motion stability while also exceeding a critical value to guarantee that feasible waves are achieved in practice. Additionally, the wavelength, wave amplitude, and number of actuators will determine the minimum required stiffness of the interface layer.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136078207","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Exploiting the Kinematic Redundancy of a (6+3)-DoF Parallel Manipulator to Produce Unlimited Rotation of the Platform 利用(6+3)自由度并联机器人的运动冗余实现平台的无限旋转

4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-10-16 DOI: 10.1115/1.4063407

Arda Yigit, David Breton, Clement Gosselin

引用次数: 0

Kinematic Design and Prototyping of a Gripper with Grasping and Scooping Capabilities Driven by the Redundant Degrees of Freedom of a Parallel Robot 并联机器人冗余自由度驱动抓取铲爪的运动学设计与原型研究

4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-10-05 DOI: 10.1115/1.4063668

Charles-Antoine Beaulieu, Tan-Sy Nguyen, Thierry Laliberte, Clement Gosselin

{"title":"Kinematic Design and Prototyping of a Gripper with Grasping and Scooping Capabilities Driven by the Redundant Degrees of Freedom of a Parallel Robot","authors":"Charles-Antoine Beaulieu, Tan-Sy Nguyen, Thierry Laliberte, Clement Gosselin","doi":"10.1115/1.4063668","DOIUrl":"https://doi.org/10.1115/1.4063668","url":null,"abstract":"Abstract A new gripper design is proposed to offer grasping and scooping capabilities to a parallel robot. This enables the parallel robot to manipulate not only large objects, but also thin objects lying on flat surfaces. Moreover, this gripper is driven directly by the redundant degrees of freedom of the parallel robot to which it is integrated. Thus, by eliminating actuators from the gripper, weight is drastically reduced, thereby making it possible to take advantage of the full payload of the parallel robot. The kinematic architecture of the gripper is first presented, notably, the kinematic implications of using an epicyclic mechanism. Then, the kinematic model developed to integrate the gripper to a (6+3)-degree-of-freedom robot is presented. Trajectory planning strategies for both grasping and scooping are then presented together with the parameters used. Finally, the experimental validation of these manipulation methods is discussed briefly to assess foreseeable improvements to the gripper itself as well as the trajectory planning aspect of the manipulation methods.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134976041","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Data-based Shape Self-sensing of a Cable-Driven Notched Continuum Mechanism Using Multi-dimensional Intrinsic Force Information for Surgical Robot 基于多维内力信息的手术机器人缆索驱动缺口连续体机构形状自感知

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-09-07 DOI: 10.1115/1.4063369

Zhengyu Wang, Xun Wei, Xiang Yu, Zirui Jia, Sen Qian, Daoming Wang

{"title":"Data-based Shape Self-sensing of a Cable-Driven Notched Continuum Mechanism Using Multi-dimensional Intrinsic Force Information for Surgical Robot","authors":"Zhengyu Wang, Xun Wei, Xiang Yu, Zirui Jia, Sen Qian, Daoming Wang","doi":"10.1115/1.4063369","DOIUrl":"https://doi.org/10.1115/1.4063369","url":null,"abstract":"\u0000 The accurate shape sensing capability of the continuum mechanism is fundamental to improve and guarantee the motion control accuracy and safety of continuum surgical robots. This paper presents a data-based shape self-sensing method for a cable-driven notched continuum mechanism using its multi-dimensional intrinsic force information, which mainly includes the multi-dimensional forces/torques and driving cable tensions, et al. The nonlinear hysteresis compensation and the shape estimation of the notched continuum mechanism play significant roles in its motion control. Calibration compensation of the notched continuum mechanism is performed based on kinematic modeling to improve the accuracy of its preliminary motion control. The hysteresis characteristics of the continuum mechanism is analyzed, modeled and compensated through considering the abundant dynamic motion experiments, such that a feedforward hysteresis compensation controller is designed to improve the tracking control performance of continuum mechanism. Based on the kinematics calibration and hysteresis compensation, combined with the motor displacement, driving cable tensions and six-dimensional forces/torques information of the continuum mechanism, a data-based shape self-sensing method based on Particle Swarm Optimization BP Neural Network (PSO-BPNN) is proposed in this study. Experimental results show that this method can effectively estimate the loaded and unloaded shape of the notched continuum mechanism, which provides a new approach for the shape reconstruction of cable-driven notched continuum surgical robots.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2023-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43585006","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Kinetostatics of Deployable Concrete Formworks 可展开混凝土模板的运动学

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-09-07 DOI: 10.1115/1.4063371

Jing-Shan Zhao, Xiao-Cheng Sun, Song-Tao Wei, Wen-Xiu Lu

{"title":"Kinetostatics of Deployable Concrete Formworks","authors":"Jing-Shan Zhao, Xiao-Cheng Sun, Song-Tao Wei, Wen-Xiu Lu","doi":"10.1115/1.4063371","DOIUrl":"https://doi.org/10.1115/1.4063371","url":null,"abstract":"\u0000 To reform the traditional concrete formwork, an overconstrained deployable frame is designed. It is composed of closed-loop deployable units formed by scissor-form elements and orthogonal telescoping rods. Using the reciprocal screw theory, the mobility of the deployable frame is studied, and it has one degree of freedom (DoF). To analyze the kinematic performance of the frame in the deployment and folding processes and the static characteristics under external loads at different deployed states, a general approach to analyzing the kinematics and statics by modeling in screw form is proposed. The velocities of joints could be solved in screw coordinates, the position and acceleration of joints could be obtained via a first-order numerical integration and a first-order numerical differential interpolation, respectively. Then, the position information for each joint can be forwarded onto the static equilibrium equations. Through the static analysis at each deployed state, the inner forces in each rod and the active control forces are derived. Kinematics and statics are associated by using velocities as the global variable, which allows a unified analysis of mechanisms. This method is computationally highly efficient and also fits for kinematic and static analysis of different kinds of multi-rigid-body mechanisms.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2023-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42790057","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Announcing the 2022 Best Paper Award and Honorable Mentions 宣布2022年最佳论文奖和荣誉奖

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-09-07 DOI: 10.1115/1.4063372

V. Krovi

引用次数: 0

Design of A Novel Flexible Spherical Hinge and Its Application in Continuum Robot 一种新型柔性球面铰链的设计及其在连续体机器人中的应用

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-09-07 DOI: 10.1115/1.4063370

Guoxin Li, Jingjun Yu, Jie Pan, X. Pei

{"title":"Design of A Novel Flexible Spherical Hinge and Its Application in Continuum Robot","authors":"Guoxin Li, Jingjun Yu, Jie Pan, X. Pei","doi":"10.1115/1.4063370","DOIUrl":"https://doi.org/10.1115/1.4063370","url":null,"abstract":"\u0000 Compliant mechanisms, which can be integrally machined and without assembly, are well suited as joints for continuum robots (CRs), but how to incorporate the advantages of the compliant mechanism into the arm design is a key issue in this work. In this paper, a novel type of flexible spherical-hinged (FSH) joint composed of tetrahedron elements with a fixed virtual remote center of motion (RCM) at the bottom is proposed, and then extended to the CR and end-effector. In the arm design, the error compensation principle is used to offset the parasitic motion of the CR under external load (pressure and torque) and improve the bending and torsional isotropy of the arm through different series combinations, and then the stiffness model of the FSH joint and the statics model of the CR are developed using the 3D chain pseudo-rigid body model (3D-CPRBM) and tested. The results show that the 3D-CPRBM can effectively predict the deformation of the FSH joint and the CR. Moreover, the maximum standard deviation of the bending angle of the FSH joint in each direction is only 0.26 degree, the repeatable positioning accuracy of the CR can reach 0.5 degree, and the end-effector has good gripping ability and self-adaptive capability.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2023-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46198870","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Design and Control of an Aerial Manipulator with Invariant Center of Gravity for Physical Interaction 具有不变重心的物理交互航空机械臂的设计与控制

IF 2.6 4区计算机科学

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-09-07 DOI: 10.1115/1.4063368

Yongfeng Rong, Wusheng Chou

{"title":"Design and Control of an Aerial Manipulator with Invariant Center of Gravity for Physical Interaction","authors":"Yongfeng Rong, Wusheng Chou","doi":"10.1115/1.4063368","DOIUrl":"https://doi.org/10.1115/1.4063368","url":null,"abstract":"\u0000 The deployment of manipulators enhances the versatility and flexibility of unmanned aerial vehicles (UAVs) in aerial physical interaction tasks but also challenges their designs and controls due to variations in the center of gravity (CoG), moment of inertia and reaction wrenches. This work presents a novel design of a two-degree-of-freedom dual-tool manipulator with invariant-center-of-gravity (ICoG) property. The ICoG conditions are strictly deduced, and a practical optimization-based parameter tuning method is proposed. A novel adaptive-extended-state-observer-based (AESO-based) impedance control method is developed with actuator dynamics taken into account. The AESO can estimate and compensate for both the lumped disturbance, including the influences of moment-of-inertia variation and counter torque, and the unmeasurable states for the controller. In addition, a switching adaptive law is proposed to attenuate the peaking phenomenon under high observer gains. The impedance controller is designed using an auxiliary impedance tracking error to overcome the difficulty of the increased system order. The Lyapunov approach is used to evaluate the stability of the entire system. The proposed approach is implemented on a fully-actuated hexarotor with a prototype of the ICoG manipulator. Comparative experiments are conducted to validate the effectiveness and advantages of the proposed design and control methods.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2023-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44433873","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0