As a novel biologically inspired underwater vehicle, robotic manta ray (RoMan-II) has been developed for potential marine applications. Manta can perform diversified locomotion patterns in water by manipulating two wide tins. These motion have implemented on the fish robot, including swimming flapping fins, turning modulating phase relations of and online transition different patterns. The movements are achieved using model artificial central pattern generators (CPGs) constructed with...

In this paper, we aim to study the swimming performance of fish robots by using a statistical approach. A robot employing carangiform mode had been used as an experimental platform for study. The experiments conducted investigate effect various design parameters on thrust capability with flexible caudal fin. controllable associated fin include frequency, amplitude oscillation, aspect ratio and rigidity significance these was determined in first set more detailed parametric then only those...

In recent years, robotic technologies have been applied to build assistive robots, such as exoskeletons and rehabilitation robots. Based on the clinical considerations, new trends of rehabilitation, like over-ground robots home-based mobile emerged by combining both knowledge from exoskeleton this article, we review some important in terms their hardware, actuation, sensory controls systems. The paper ends with a discussion future especially clinical-based considerations.

This paper describes the design, fabrication and locomotion of a starfish robot whose principle is derived from starfish. The has number tentacles or arms extending its central body in form disk, like topology real arm, which soft composite structure (which we call smart modular (SMS)) generating planar reciprocal motion with high speed response upon actuation provided by shape memory alloy (SMA) wires, fabricated materials. Based on variation resistance SMA wires during their heating, an...

Robotic models have been used as one of the approaches to study fish locomotion. Therefore, this paper proposes an effective control scheme that enables robotic mimic fin-ray undulation kinematics live fish. We found in experiments fin difference between desired and actual trajectories can be significant. It is believed might caused by phase lagging effect. To tackle tracking problem, a modified iterative learning (ILC) proposed implemented on model. Furthermore, memory clearing operator...

From initial applications in the fields of prosthesis, implants, surgery planning, anthropology, paleontology and forensics, scope rapid prototyping (RP) biomedical has expanded to include areas tissue engineering (TE) controlled drug delivery. In current investigation, feasibility utilizing selective laser sintering (SLS) fabricate polymeric delivery devices (DDDs) that are difficult make using conventional production methods was studied. Two features, namely porous microstructure dense...

This paper describes an autonomous vehicle testbed that aims at providing the first- and last- mile transportation services. The mainly operates in a crowded urban environment whose features can be extracted priori. To ensure system is economically feasible, we take minimalistic approach exploit prior knowledge of availability existing infrastructure such as cellular networks traffic cameras. We present three main components system: pedestrian detection, localization (even presence tall...

There are many applications for rapid prototyping systems and application in the biomedical field is an important domain. Uses selective laser sintering (SLS) this study to build porous cylindrical disc matrices use as drug delivery devices (DDD). Studies part‐bed temperature ascertain its influence over porosity of matrices. They found have inverse linear relationship. Also investigates dense walls, inherent consequences building structures with SLS, matrix they a direct impact on...

The combination of biological principles, mechanical engineering, and robotics has opened up an entirely new area possibility. In addition to those works from active prominent groups in the international biomimetics community on bio inspired aquatic robots, recent research development underwater by NTU team will be presented this paper. bio-inspired fin design vehicles illustrated together with concept modular mechanism segments. specified layout is able produce a wide range motions various...

This paper presents a wearable lower extremity exoskeleton (LEE) developed as platform for research works on enhancement and assistive the ability of human's walking load carrying. The whole process first prototype design is introduced together with sub-systems, inner/outer exoskeleton, attached flexible waist footpad sensors. Simulation model feedback control ZMP method were established using Adams Matlab. ultimate goal current work to power assisted system, which integrates intellect...

Abstract This paper is dedicated to the implementation of biological fish swimming motion onto biomimetic robots. By learning from different species fish, mechanism design and motor control machines could be shaped in forms. In general, they can grouped into two major forms, an engineering viewpoint: serial open-chain parallel design. The gait planning on both forms then performed based well-established theory swimming. using associated kinematics equations, generic solution for multi-link...

In this paper, a fish robot employing carangiform swimming mode is adopted as an experimental platform for the parametric study. Experiments conducted in laboratory aim to study variation of robotic fish's thrust with respect various parameters including frequency and amplitude oscillation, joint link, aspect ratio, free flow velocity spring effect. The testing also enables us find out relationship between generated by oscillatory motion tail. On other hand, significance controlled will be...

Exoskeletons for human performance augmentation are controlled and wearable devices or machines that can increase the speed, strength, endurance of operator. So far most researchers focus on upper limb exoskeletons. To help those who need to travel long distances by feet with heavy loads such as infantry soldiers, this paper presents a control principle lower extremity exoskeleton. An exoskeleton foot is designed measure exoskeleton's ZMP. Using measured ZMP reference together leg position...

The present work is motivated by the need to develop a generic method modeling biomimetic undulatory motion for fish robots with long fin propulsors. Combined mechanical design of fins proposed in current literatures, we explore application coupled nonlinear oscillators swimming gaits and propose kinematic framework. Coupled can also be regarded as models artificial Central Pattern Generators (CPGs) gait control robots. advantages this over normal sinusoidal functions based are discussed....

For decades, robotic devices have been suggested to enhance motor recovery by replicating clinical manual-assisted training. This paper presents an overground gait rehabilitation robot, which consists of a pair orthoses, the connected pelvic arm in parallel and mounted mobile platform. The walking incorporates control together with active joints on lower limb. As preliminary evaluation, system trials conducted healthy subjects spinal cord injury (SCI) subject, respectively. Electromyography...

In e-commerce fulfillment warehouses, manual item picking is a labor-intensive and tedious task. Therefore, automation of can improve efficiency save cost for businesses. This paper presents an automated robot solution that meets the requirements automating items from shelves. The hardware proposed system comprises lightweight manipulator, low-cost commercially available 3D camera custom-built robotic gripper. software modular comprising task planning module, identification registration...

Exoskeletons for human performance augmentation are controlled and wearable devices that can increase the speed, strength, endurance of operator. To help those who need to travel long distances by feet with heavy loads such as infantry soldiers, we developing a lower extremity exoskeleton fur enhancement at Nanydng Technological University (NTU). Together linkages, an foot is designed measure exoskeleton's ZMP. Ry using measured ZMP leg position signals, be modified hy trunk compensation....

This paper focuses on the kinematic modelling, mobility analysis and design of an omni-directional wheeled mobile robots (OWMRs). The composite models a robot (WMR)-a WMR is collection platform wheel sub-systems-with equipped with three wheels formulated. carried out using functional matrix. It shown that has three. A prototype are designed, built tested successfully.

In this paper, a robotic fish employing carangiform swimming mode have been developed. The tail fin mechanism with spring and movable pin enables smooth adjustable motion. Experiments conducted in the laboratory aim to study variation of fish's thrust velocity respect various parameters, which includes frequency, amplitude oscillation, joint link, aspect ratio, free stream effect. testing also us find out relationship between parameters how adjust order generate maximum thrust. On other...

This paper presents the design of a planar compliant fixture for optical switch assembly to automatically accommodate uncontrollable errors. The comprises platform movable in x-y-thetas and three flexure-based supporting legs. Compliance performance is mainly concern design. A closed-form formulation developed map stiffness joints space into Cartesian generic 3-legged platforms. Based on requirement, structure configuration legs are synthesized designed. Experimental results showed that...

A mapping algorithm is essential to teleoperate a robot hand. Joint-to-joint mapping, pose and point-to-point are three commonly used methods for telemanipulation. However, these might not produce satisfactory performance if the hand non-anthropomorphic. This paper introduces method based on relative positions between fingertips. An particularly three-fingered non-anthropomorphic presented. The principle of find suitable parameters in frame, transform them then compute fingertip according...