An intelligent cane robot is designed for aiding the elderly and handicapped people's walking. The consists of a stick, group sensors, an omnidirectional basis driven by three Swedish wheels. Recognizing user's walking intention plays important role in motion control our robot. To quantitatively describe intention, concept called "intentional direction (ITD)" proposed. Both state model observation ITD are obtained enumerating possible modes analyzing relationship between human–robot...

An intelligent walking-aid cane robot is developed for assisting the elderly and physically challenged with walking. A motion control method proposed based on human walking intention estimation. Moreover, safety investigated both elderly. The fall detection prevention concepts are to guarantee of while robot. However, deficiency that it can be overturned easily because its small size light weight. Therefore, a controllable universal joint designed adjusting tilted angle stick. stability...

In this study, we propose an innovative driving method for a microrobot. By using acoustic levitation, the microrobot can be levitated from glass substrate. We are able to achieve positioning accuracy of less than 1 μm, and response speed output force also significantly improved. Silicon-based microrobots made into diverse shapes deep reactive-ion etching (DRIE). Using custom-designed allows 3-D rotational control single bovine oocyte. Orientation with 1° average rotation velocity 3 rad/s...

Computational biomechanical analysis plays a pivotal role in understanding and improving human movements physical functions. Although physics-based modeling methods can interpret the dynamic interaction between neural drive to muscle dynamics joint kinematics, they suffer from high computational latency. In recent years, data-driven have emerged as promising alternative due their fast execution speed, but label information is still required during training, which not easy acquire practice....

Mating a pair of electric connectors is one the most important steps in robotic wiring harness assembly system, which can be modeled by static piecewise affine (PWA) systems. To design fault detection system for this application, set-membership approach PWA systems proposed, parallelotopic approximation feasible parameter sets adopted. An online algorithm obtained to estimate bounds uncertain transition points model. Based on estimation, robust proposed. The robustness and sensitivity are...

Fall prevention is one of the most important functions walking assistance devices for user's safety. It preferable that these prevent user from being in state where risk falling high rather than helping them recovering motion. During turning, when tandem stance, a both legs form line along direction, support base surrounded by two becomes small, and stability margin small. This paper therefore aims to stance using nonwearable robot "intelligent cane" elderly or physically challenged person....

A three-wheeled omni-directional cane robot is designed for aiding the elderly walking. Possible move modes are analyzed and a corresponding hybrid model constructed to describe walking behavior. concept called intentional direction presented denote moving intention of human. Based on experiments some assumptions, dynamic obtained as well its online estimation method. new admittance control scheme based direction, which provides natural intuitive human machine interface. Experiment results...

A three-wheeled omni-directional cane robot is designed for aiding the elderly walking. new human fall detection method proposed based on fusing sensory information from a vision system and laser ranger finder (LRF). This plays an important role in fall-prevention robot. The model represented 2D space, where distance between head average leg position significant feature to detect fall. possibility distribution of this estimated by using Dubois theory. Fall implemented simple rule...

An intelligent cane robot is designed for assisting the elderly or physically challenged people walking in daily life. The driven by an Omni-directional mobile base; aluminous stick fixed on base. A variety of sensors are installed estimating user's intention and status (normal falling). intentions to which user want move can be estimated analyzing active force robot. As a nursing-care robot, safety most important concern; before fall over, should detect sign falling control assist prevent...

A content analysis examined the frequency with which altruistic versus egoistic motivations were acted upon in television where these conflict each other. The sample was drawn from children’s programs popular among different age groups (ages 2–5, 6–11, and 12–17 years). It also whether performed by affable (likable, heroic) or surly (unlikable, villainous) characters they rewarded punished. Extending previous research (Lewis & Mitchell, 2014), we found that portrayal patterns stressed...

In this study, we propose a novel fall prevention scheme for an omni-direction type cane robot by using DC motor driven universal joint. The which is three omni-wheels called Intelligent Cane Robot (iCane). It designed aiding the elderly and handicapped people walking as shown in Fig.1. motion of controlled both normal abnormal conditions. user's aided robot, concept "Intentional Direction (ITD)" proposed. Guided online estimated ITD, apply admittance control method robot. For walking,...

An intelligent cane robot (iCane) was designed for aiding the elderly who have muscle weakness on lower limbs. A commercial omni-directional wheels used as an mobile base, and aluminum stick installed base of robot. Concept called "intentional direction (ITD)" proposed estimating user's walking intention by analyzing signal a 6-axis force/torque sensor which is fixed to handle stick. universal joint driven two DC motors control posture As care-nursing device, assist in both indoor outdoor...

In this paper, we demonstrate a method for quadruped dynamic locomotion based on centroidal momentum control. Our relies quadratic program that solves an optimal control problem to track the reference rate of change as closely possible while satisfying dynamic, input, and contact constraints full robot dynamics. Given desired footstep positions, according is formulated feedback task derived from CoM motions simplified model (linear inverted pendulum) Capture Point The joint accelerations...

Rolling element bearing (REB) vibration signals under variable speed (VS) have non-stationary characteristics. Order tracking (OT) and time-frequency analysis (TFA) are two widely used methods for REB fault diagnosis VS. However, the effect of OT is affected by resampling errors close-order harmonic interference, while accuracy TFA mainly limited resolution ridge extraction algorithms. To address this issue, a novel method based on envelope spectrum characteristic frequency band...

In electronic manufacturing system, the design of robotic gripper is important for successful accomplishment assembly task. Due to restriction architecture traditional hands, status parts during process cannot be effectively detected. this research, an intelligent - i-Hand equipped with multiple small sensors designed and built purpose, getting essential parameters some specific mathematical model. Mating connectors by robot, as experimental case in paper, studied evaluate performance...

The 3D assembly of micro-/nano-building blocks with multi-nanomanipulator coordinated manipulation is one the central elements nanomanipulation. A novel rail-guided nanomanipulation system was proposed for a cellular vascular-like hydrogel microchannel. equipped three nanomanipulators and restricted on rail in order to realize arbitrary change end-effectors during assembly. It set up hybrid motors achieve both large operating space 30 nm positional resolution. 2D components such as units...

The research of rolling element bearings (REBs) fault diagnosis based on single sensor vibration signal analysis is very common. However, the information provided by an individual limited, and robustness system poor. In this paper, a novel method coaxial feature fusion (CVSFF) proposed to fully analyze multisensor build more reliable diagnostic system. An ensemble empirical mode decomposition (EEMD) used decompose original into number intrinsic functions (IMFs). Then autocorrelation...

Vibration signal analysis is an important means for bearing fault diagnosis. Affected by the vibration of other machine parts, external noise and transmission path, impulses induced a defect in measured vibrations are very weak. Blind deconvolution (BD) methods can counteract effect path enhance impulses. Most BD highlight features filtered signals impulse-featured objective functions (OFs). However, residual has not been well tackled. To overcome this problem, fuzzy entropy-assisted (FEAD)...

To design a safe path planning for the manipulator is key issue during human worker and cooperation cell assembly. In this study, assembly system involving designed. According to camera vision information, locations of are calculated, then potential field calculated based on Artificial Potential Field (APF) method. order generate semi-optimal manipulator, criterion imported evaluate an Evolutionary Algorithm (EA) adopted adjust parameters meet criterion. The effectiveness these methods...

Deformable linear objects (DLOs) such as cables, hoses and wires are widely used in the real life, electric industries medical operations. In this paper, we propose a new approach to simulate manipulating DLOs robotic assembly. The dynamic 2D deformation of an inextensible object is formulated using FEM approach. Based on model, simulation can be efficiently implemented by matrix computation numerical solvers for differential equations. proposed method provides faster speed than methods...

In this study, we present an omni-directional cane robot for aiding the elderly and handicapped people walking. The motion control problem is investigated both normal abnormal walking conditions. case of user's aided by robot, a concept called "Intentional Direction (ITD)" proposed. Guided online estimated ITD, apply admittance method in robot. gravity compensation also considered because user possible to walk on slope. For walking, mainly studied falling down. Center Gravity (COG) can be...

In electronic manufacturing systems, the design of robotic hand is important for successful accomplishment assembly task, and also human robot coworker coordinated assembly. Due to restrictions on architecture traditional hands, status parts, such as position rotation during process cannot be detected effectively. this research, an intelligent – i-Hand, equipped with multiple small sensors designed built purpose. Mating connectors by robot, experimental case in paper, studied evaluate i-Hand...

The present study employed a longitudinal survey experiment with American adults to investigate whether cognitive and emotional appraisals of messages about climate change related health risks would mediate the relationships between participants’ individual differences (in political ideology health) their perceived harm self support for policies. found that liberals people poorer evaluated as more useful interesting generated negative emotions toward consequences change. In turn, they...

To detect and recover the errors occurred in task of mating connectors is vital robotic wiring harness systems. In our previous work, a set-membership approach for static piecewise affine (PWA) system was proposed. Although using force model, can be detected effectively during connectors, there are still some mistaken detections unrecognized faults, due to insufficient sensor information limitation model. Before task, various kinds grasping errors. Only unable this study, new hybrid...