Flying insects and robots that mimic them flap rotate (or ‘pitch’) their wings with large angular amplitudes. The reciprocating nature of flapping requires rotation the wing at end each stroke. Insects or flapping-wing could achieve this by directly exerting moments about axis using auxiliary muscles actuators. However, completely passive rotational dynamics might be preferred for efficiency purposes, or, in case a robot, decreased mechanical complexity reduced system mass. Herein, detailed...

We present a design methodology and manufacturing process for the construction of articulated three-dimensional microstructures with features on micron to centimeter scale. Flexure mechanisms assembly folds result from bulk machining lamination alternating rigid compliant layers, similar rigid-flex printed circuit board construction. Pop-up books other forms paper engineering inspire designs consisting one complex part single degree freedom. Like an unopened pop-up book, mechanism links...

Silicon-based MEMS techniques dominate sub-millimeter scale manufacturing, while a myriad of conventional methods exist to produce larger machines measured in centimeters and beyond. So-called mesoscale devices, existing between these length scales, remain difficult manufacture. We present versatile fabrication process, loosely based on printed circuit board manufacturing techniques, for creating monolithic, topologically complex, three-dimensional parallel at the millimeter centimeter...

The effect of wing flexibility in hoverflies was investigated using an at-scale mechanical model. Unlike dynamically-scaled models, model can include all phenomena related to motion and deformation the during flapping. For this purpose, polymer mimicking a hoverfly fabricated custom micromolding process. has venation corrugation profiles which mimic those measured flexural stiffness artificial is comparable that natural wing. To emulate torsional at wing-body joint, discrete flexure hinge...

We present a passive fluid transmission based on antagonist pairs of rolling diaphragm cylinders. The working volume is completely sealed, forming closed, system, ensuring input-output symmetry and complete backdrivability. Rolling diaphragm-sealed cylinders provide leak-free operation without the stiction traditional sliding seal. Fluid pressure preloading allows for bidirectional also serves to preload gears or belts in linear-to-rotary output coupler, eliminating system backlash...

Traditional micro air vehicles (MAVs) are miniature versions of full-scale aircraft from which their design principles closely follow. The first step in is the development a conceptual design, where basic specifications and vehicle size established. Conceptual methods do not rely on specific knowledge propulsion system, layout subsystems; these details addressed later process. Non-traditional MAV designs based birds or insects less common without well-established methods. This paper presents...

We present a new type of hydrostatic transmission that uses hybrid air-water configuration, analogous to N+1 cable-tendon transmissions, using N hydraulic lines and 1 pneumatic line for system with degrees freedom (DOFs). The common air-filled preloads all DOFs in the system, allowing bidirectional operation every joint. This configuration achieves high stiffness water-filled half number bulky lines. implemented this pairs rolling-diaphragm cylinders form rotary actuators, design achieving...

This paper reports on Team Northeastern's Avatar system for telepresence, and our holistic approach to meet the ANA XPRIZE Final testing task requirements. The features a dual-arm configuration with hydraulically actuated glove-gripper pair haptic force feedback. Our proposed was evaluated in Finals completed all 10 tasks, scored 14.5 points out of 15.0, received 3rd Place Award. We provide details improvements over first generation Avatar, covering manipulation, perception, locomotion,...

Flapping-wing mechanisms inspired by biological insects have the potential to enable a new class of small, highly maneuverable aerial robots with hovering capabilities. In order for such devices operate without an external power source, it is necessary address complex system design challenge: integration all required components on board robot. This paper discusses flight energetics flapping-wing robotic goal selecting parameters that autonomy and maximize time. The subsystems robot are...

There has been a drastic shift to remote interaction for professional, industrial and personal interactions. Improving the overall quality of these interactions by removing any sense distance between users is ultimate goal. Video conferencing widely adopted as an improvement audio-only Having added visuals audio communication, next frontier add physical this communication. In paper, we present avatar system with aim tackling necessities. The proposed includes both hardware software designs...

Abstract In real-life teleoperation scenarios, the presence of time-varying network delays, particularly in wireless networks, poses significant challenges maintaining stability a bilateral system. Various approaches have been proposed past to address concerns; however, these often come at expense system transparency. Nevertheless, increasing transparency is crucial enable precise and safe operations, as well provide real-time decision-making capabilities for operator. This paper presents...

Wing motion in most flapping-wing micro air vehicles (MAVs) is restricted to a flat stroke plane order simplify analysis and mechanism design. An MAV actuation transmission design capable of controlling flapping motions deviations from the mean using relatively simple modifications proven presented. This allows preliminary investigation into more power-efficient wing trajectories, an important concern for small MAVs. A theoretical quasi-steady model flight used predict motions, these...

Flapping-wing robotic insects are small, highly maneuverable flying robots inspired by biological and useful for a wide range of tasks, including exploration, environmental monitoring, search rescue, surveillance. Recently, driven piezoelectric actuators have achieved the important goal taking off with external power; however, fully autonomous operation requires an ultralight power supply capable generating high-voltage drive signals from low-voltage energy sources. This paper describes...

This paper introduces a methodology for designing real-time controllers capable of enforcing desired trajectories on microrobotic insects in vertical flight and hovering. The main idea considered this work is that altitude control can be translated into problem lift force control. Through analyses experiments, we describe the proposed strategy, which fundamentally adaptive with some elements model-based In order to test explain method controller synthesis tuning, static single-wing flapping...

Magnetic resonance imaging (MRI) offers many benefits, including unsurpassed soft-tissue characterization and the ability to combine detection biopsy into a single procedure. However, limited patient access in narrow scanner bore requires tedious iterative positioning or use of robotic assistants that isolate physician from patient. As an alternative, we present teleoperation technology for percutaneous procedures meet needs interventional radiologists overcome challenges imposed by MR...

When designing a robot for human-safety during direct physical interaction, one approach is to size the robot's actuators be physically incapable of exerting damaging impulses, even controller failure. Merely lifting arms against their own weight may consume entire available torque budget, preventing rapid and expressive movement required anthropomorphic robots. To mitigate this problem, gravity-counterbalancing common tactic; however, most designs adopt shoulder singularity configuration...

Magnetic resonance imaging (MRI) is used for soft tissue pathology diagnosis and assistance with targeted lesion procedures. However, limited physician access to patients in the magnetic scanner bore requires iterative positioning imaging, which extends procedure time increases patient risk. We present a teleoperated system instrumented testbed robotic MRI-guided needle biopsy, particularly targeting transperineal prostate biopsies. The device has 1:1 kinematic mapping uses low-friction...

Dexterous, serial-chain motor-driven robotic arms have high moving mass, since most of the actuators must be located in arm itself. This necessitates gear ratios, sacrificing passive compliance, backdrivability, and capacity for delicate motion. We introduce concept a remote direct-drive (RDD) manipulator, which every motor is base, connected to joints via low-friction hydrostatic transmission. designed new linear actuator with fully-floating piston; piston floats within cylinder using pair...

This paper introduces a methodology for designing real-time controllers capable of enforcing desired trajectories on microrobotic insects in vertical flight and hovering. The main idea considered this work is that altitude control can be translated into problem lift force control. Through analyses experiments, we describe the proposed strategy, which fundamentally adaptive with some elements model-based In order to test explain method controller synthesis tuning, static single-wing flapping...

Contact detection without endpoint tactile sensing is challenging; friction and inertia obscure the of low amplitude high frequency forces. In this work we explore fluidic transmissions as series-elastic actuators, coupled to remotely-located direct-drive brushless motors, in a bid maximize low-impedance sensitivity contact while maintaining bandwidth. We employ disturbance observer remove motor further reduce minimum impedance. Using 2-DOF remotely-actuated hydraulically-coupled robotic...

The Harvard Robobee is a fly-sized aerial vehicle that can perform controlled flight maneuvers. But this robot unable to control its yaw or heading angle desired value. Motivated by deficiency, we propose new method produce yaw-axis rotations. Termed wriggle-steering, it consists of driving body oscillations around two other rotational axes. Because no torque applied directly the axis, therefore constitutes an alternative for under-actuated designs. Oscillations are driven pitch and roll...