One promising approach for robots efficiently learning skills is to learn manipulation from human tutors by demonstration and then generalize these learned complete new tasks. Traditional generalization methods, however, have not well considered impedance features, which makes the less humanlike restricted in physical human-robot interaction scenarios. In particular, stiffness has been considered. This paper develops a framework that enables robot both movement features tutor. To this end,...

This paper proposes a fabric structure defect detection method based on the vision-based tactile sensor. The result will be robust by using sensor regardless of dyeing patterns which can influence if some other sensors are used, e.g., vision perception. It also reduces ambient light detection. Therefore, proposed more and universal than conventional visual methods. A robotic arm equipped with was used to automate standardize data collection process construct datasets. In addition,...

Abstract Gallium‐based liquid metal alloys (LMAs) are extensively studied and used recently due to their excellent fluidity, high conductivity, low evaporation pressure. Nonwettable nonsticky marbles (LMMs) also developed address the stickiness issue of oxidized LMAs in air. Current LMMs, however, lack acceptable controllability, shape stability, robustness, greatly limiting practical application. Here, a magnetically controllable marble (MCLMM) that is noncorrosive nonsticky, exhibits good...

Typically, the fingertips of a dexterous robotic hand are designed to be rigid and equipped with variety sensors provide tactile perception. However, this design scheme renders grasping small objects difficult, because usually have contact area objects. In article, we propose novel fingertip that combines soft skin particle-jamming structure. Benefiting from structure, fluid-state jamming particle material ensure encloses object as much possible when in it. Then, application vacuum turns...

Motion planning for an anthropomorphic arm is discussed in this paper. A three-level motion framework "joint space—movement primitive space—task space" established by introducing movement primitives as the bridge connecting task space and joint space. The proposed method cannot only control process of arm, but also simplify complicated operation tasks. On basis this, a specific human triangle model instantiation abstract to describe state arm. Through concept working plane, forward inverse...

In this paper, a reduced-complexity model of the human arm endpoint stiffness is introduced and experimentally evaluated for teleimpedance control compliant robotic arm. The modeling behavior inspired by motor principles on predominant use configuration in directional adjustments profile, synergistic effect muscular activations, which contributes to coordinated modification task all Cartesian directions. Calibration identification parameters are carried out experimentally, using...

Effective and stable execution of a remote manipulation task in an uncertain environment requires that the force position trajectories slave robot be appropriately commanded. To achieve this goal, teleimpedance control, reference command which consists stiffness profiles master is computed realized by compliant real-time. This highlights need for suitable computationally efficient tracking human limb profile In direction, based on observations neuromotor control give evidence predominant use...

This paper deals with the self-collision avoidance problem for humanoid robots in an efficient way. Self-collision is introduced as a constraint each task hierarchical Inverse Kinematic (IK) problem. Since number of link pairs which needs to be updated and checked self-collision, every control loop, large, novel concept Self-Collision Avoidance Focus Interest (SCAFoI) proposed. SCAFoIs permits predict dynamically select necessary online improve computation efficiency. For several SCAFoIs,...

The endpoint stiffness of the human arm has been long recognized as a key component ensuring quasi-static stability physical interactions with external world. Similarly, understanding joint behavior can provide complementary insights, e.g., on underlying regulation principles across different joints including nullspace profiles. Traditionally, experimental modeling and estimation is achieved by transformation identified to coordinates. Due kinematic redundancy, obtained matrix rank-deficient...

In this paper, we propose a novel method for selective management of muscle fatigue in human-robot co-manipulation. The proposed framework enables the detection excessive levels an individual group while executing certain task, and provides anticipatory robotic responses to distribute effort among less-fatigued muscles human arm. Our approach uses machine learning technique enable online predictions forces different arm configurations endpoint interaction forces. estimated are then used...

The advancement and development of human modeling have greatly benefited from principles used in robotics, for instance, multibody dynamics laid the foundations physics engines movement simulation, robotics control theory were to contextualize sensorimotor control. There are many common interests interconnections between fields robotics. In recent years, as robots become safer smarter, they actively participate our lives help us various scenarios. Roboticists need tools data build...

Abstract The ascending arousal system plays a crucial role in individuals' consciousness. Recently, advanced functional magnetic resonance imaging (fMRI) has made it possible to investigate the network (AAN) vivo. However, of AAN neuropathology human insomnia remains unclear. Our study aimed explore alterations and its connections with cortical networks chronic disorder (CID). Resting‐state fMRI data were acquired from 60 patients CID good sleeper controls (GSCs). Changes brain's...

In this work we present a novel and generic framework for reactive collision avoidance in bipedal locomotion, which is formulated as an optimization problem considering the constraints of well others (e.g. joint limits) to simultaneously satisfy both Cartesian space objectives. To realize behaviors, several task motions, such translational motion swing foot vertical position support foot, could be relaxed presence obstacles. Therefore, trajectory modulated with respect references real-time...

According to increasing demands on accomplishing the complicated tasks anthropomorphic arms are facing and diversity of arm platform, a novel unified task-motion planning method for is investigated in this paper. Firstly, inspired by discovery movement primitive human motion from Neurophysiology, three-level framework "joint space-movement space-task space" proposed, which can plan describe flexible modular manner. Next, triangle space proposed intuitively represent instantaneous status...

Safety and ergonomics of Physical Human-Robot Collaboration (PHRC) are crucial to make human-robot collaborative systems trustworthy a significant impact in real-world applications. One big obstacle the development relevant research is lack general platform for evaluating safety proposed PHRC systems. This paper aims create emulatoR enabling safEty anD ergonomICs evaluation Training physical human-rObot collaboRation (PREDICTOR). PREDICTOR consists dual-arm robot system VR headset as its...

In this paper, we propose a method for improving the human operator's arm posture during bilateral teleoperation. The is based on musculoskeletal model that considers dynamics and feedback force from haptic interface (master), which used to control robotic (slave) in remote environment. We perform an online optimisation find optimal configuration has longest endurance time with respect muscle fatigue. Next, trajectory generated order guide into configuration. teleoperation temporarily...

Strapdown Inertial navigation (SINS) is a highly reliable system for short term applications. SINS functions continuously, less hardware failures, renders high speed solutions ranging from 50 Hz to 1000 and exhibits low short-term errors. It provides efficient attitude, angular rate, acceleration, velocity position solutions. But, the accuracy of solution vitiates with time as sensor (gyros & accelerometers) errors are integrated through equations. Average grade capable providing...