Interaction with humans is inevitable for service robots, which results in safety being one of the most important factors designing robots. Compliant component an answer to issue at cost performance degradation. In order reduce degradation, manipulators equipped variable stiffness have been studied by many researchers. This paper presents a joint (VSJ) designed robot manipulator, as well control scheme and position VSJ. Compliance generated leaf springs two actuators are used using four-bar...

Highly sensitive detection tools that measure pressure and force are essential in palpation as well real-time monitoring biomedical applications. So far, measurement has mainly been done by sensing resistors field effect transistor (FET) sensors for biological sensing. We report a sensor the combination of piezoelectric layer integrated with microstructured Polydimethylsiloxane (μ-PDMS) layer. propose an enhanced tool to be used analyzing gentle touches without external voltage source is FET...

Compared with their robotic counterparts, humans excel at various tasks by using ability to adaptively modulate arm impedance parameters. This allows us successfully perform contact even in uncertain environments. paper considers a learning strategy of motor skill for based on human control theory and machine schemes. Our robot method employs the equilibrium point reinforcement determine parameters tasks. A recursive least-square filter-based episodic natural actor-critic algorithm is used...

This paper demonstrates a reliable navigation of mobile robot in outdoor environment. We fuse differential GPS and odometry data using the framework extended Kalman filter to localize robot. And also, we propose an algorithm detect curbs through laser range finder. An important feature road environment is existence curbs. The builds map roads used for tracking localization. system consists control station. sends image from camera station receives displays teleoperator commands based on data....

The ability to measure pressure and force is essential in biomedical applications such as minimally invasive surgery (MIS) palpation for detecting cancer cysts. Here, we report a sensor measuring shear normal by combining an arrayed piezoelectric sensors layer with precut glass top plate connected four stress concentrating legs. We designed fabricated thin film proposed enhanced sensing tool be used analyzing gentle touches without the external voltage source FET sensors. Both linear...

As a steerable needle or robotic manipulator, the concentric-tube robot shows good potential for use in minimally invasive medical procedures. However, torsional deformation of precurved tubes comes at price instability, which not only limits workspace and tool path but also potentially creates danger tissue rupture when external load is applied. In this paper, we propose anisotropic patterning to solve instability problem. Hole-patterning can tune mechanical properties so that ratio...

We propose a design method for gravity compensator using unit spring balancers multi-degree-of-freedom (DOF) and multilink manipulators. Existing can be applied to new of compensator. When applying compensator, it is necessary determine how many are required where they should placed. Our proposed the number their locations. In this study, balancer multi-DOF manipulators considered as mapping between two spaces (i.e., joint space gravitational torques compensate torques). The matrix obtained...

Variable stiffness enables the safe and effective operation of minimally invasive surgical instruments. In this article, we propose a continuously variable mechanism scalable tubular structure. The consists multiple coaxial nitinol tubes, each tube has an anisotropic distribution flexural created by nonuniform through-hole patterning. is varied relative rotation translation among resulting in difference up to 7.2 times direction load. Its stiffnesses along principal axes are independently...

With the current trend of dwindling life cycle production, necessity systems with high-adaptability is on rise. their high adaptability and easy maintenance, reconfigurable manipulators are strong candidates to replace conventional non-reconfigurable in such trend. However, most existing robots designed for non-industrial use remained laboratory level because low accuracy mechanical/electrical capacity. In this letter, we present our newly developed manually manipulator, ModMan, equipped...

In this paper, an anthropomorphic robot hand called SKKU Hand II is presented, which has a miniaturized fingertip tactile sensor. The thumb designed as one part of the palm and provides mobility palm. sensor, based on polyvinylidene fluoride (PVDF) pressure variable resistor ink, physically flexible enough to be deformed into any three-dimensional geometry. order detect incipient slip, PVDF strip arranged along direction normal surface finger hand. Also, thin sensor sense static force well...

Safety of a manipulator designed to be used at home requires different approach than industrial robots, where safety is achieved mainly by decreasing the interaction with humans. Robots for applications home, however, require frequent Introducing compliant component gives answer issue cost performance degradation. In order reduce degradation, manipulators equipped variable stiffness have been studied many researchers. This paper presents joint(VSJ) robot manipulator. The generated leaf...

The concentric-tube continuum robot generates distal end motions by translating and rotating the proximal ends of pre-curved tubes that overlap concentrically. This does not require additional actuators along because overall curvature position are determined solely interactions between inner outer tubes. However, under certain conditions, rotation is hindered as actuation energy accumulates into torsional As rotated further, accumulated from twisting suddenly released, which makes snap to a...

This paper presents a small and lightweight tactile display system describes its capabilities with respect to spatial temporal feedback. Each module is comprised of 4times4 piezoelectric ultrasonic actuator array resolution 1.5 mm 20 Hz. The objective this research build such that the system, including modules complete controller parts, will be wearable by user. It was found developed can both information less power consumption.

In this paper, we have applied phantom sensation and sensory saltation to generate spatial directional information using a vibrotactile display pad providing cues, T-mobile. A grooved slim design is the contact side of T-mobile for comfortable gripping, part consists 12 panels which can operate independently separately. To maintain isolation among actuators, surface cover divided into several pieces. Each vibrating module linear resonant vibrational motor, section covering surface, vibration...

Stable haptic interaction has been studied extensively using an energy-based approach, because energy is indirect index reflecting unstable behaviour. When a system generates energy, the becomes unstable. Therefore approach should provide point of reference for defining generated energy. However, in some practical cases, such as multi-layered virtual wall, it difficult to determine reference. As result, behaviour cannot be detected promptly. To resolve this problem, new observer, working...

This paper proposes an algorithm to estimate external forces exerted on the end-effector of a robot manipulator using information from joint torque sensors (JTS). The is combination Time Delay Estimation (TDE) and input estimation technique where force considered as unknown manipulator. Based TDE's idea, estimator which does not require accurate dynamics model developed. simultaneous state used reject only nonlinear uncertainties but also noise measurements. performance proposed evaluated...

In this paper a safe arm with passive compliant joints and visco-elastic covering for human-friendly service robots is presented. The joint (PCJ) composed of magneto-rheological (MR) damper rotary spring. spring gives the property, but also it might be source vibration. Therefore introduced damping effect works as viscous by controlling electric current according to angular velocity displacement. an unexpected collision, cover passively operate attenuate applied collision force. force...

This paper proposes a gravity compensator for the roll-pitch rotation which can be operated in hemispherical work space. The comprises two 1-dof compensators and bevel differential. It is revealed from analyses of energy torque that proposed perform static balancing completely. compensation 4-dofs manipulator briefly introduced example. Experiments show counterbalance gravitational torques effectively

Pose estimation is a key challenge in robot manipulation and grasping task. Current object pose approaches based on 3D models depth sensor information have difficulties to handle transparent objects because of the limitation capture accurate information. To address these issues, we present 6DoF approach, called GhostPose, which utilizes novel bounding box prediction network multi-view geometry with cameras manipulator robot. Our simple light-weight by adding small branch one-stage detector....