System identification is a key discipline within the field of automation that deals with inferring mathematical models dynamic systems based on input-output measurements. Conventional methods require extensive data generation and are thus not suitable for real-time applications. In this paper, novel approach parametric linear using Deep Learning (DL) Modified Relay Feedback Test (MRFT) proposed. The proposed requires only single steady-state cycle MRFT, guarantees stability performance in...

Variable Stiffness Actuators (VSA) have been proposed as an alternative actuation system for manipulators that are utilized safe physical Human-Robot Interaction (pHRI). However, in the incidents of collision, need a fast response stiffness tuning would rise to ensure safety. In this paper, we present novel Discrete Actuator (DVSA) be used compliant robotic manipulator The novelty actuator lies its design topology which allows level change swiftly among predefined levels without complex...

<title>Abstract</title> This study looks into the axial strength of round concrete columns that are reinforced with GFRP bars and spirals. Even though a clear consensus has developed on using FRP for flexural shear strengthening structures, role as longitudinal reinforcement in subjected to compressive stresses is not well understood. The research assesses how these function when force acts along their axis an approach help software called Abaqus which finite element software. Twelve...

This study investigated the impact of Supernumerary Robotic Fingers (SRFs) on cognitive function during activities daily living (ADLs) among a group unimpaired individuals. The increasing global prevalence stroke has heightened need for effective rehabilitative solutions which address both motor and dysfunction simultaneously. Robotic-aided therapies, including SRFs, provide promising means towards enhancing self-sufficiency independence in individuals with post-stroke. However, full...

In this paper we present the design and characterization of a novel Passive Variable Stiffness Joint (pVSJ). pVSJ is proof concept passive revolute joint with controllable variable stiffness. The current intended to be bench-test for future development towards applications in haptic teleoperation purposed exoskeletons. main feature its capability varying stiffness infinite range based on simple mechanical system. Moreover, can rotate freely at zero case without any limitation. mechanism...

In this paper, the modeling, design, and characterization of passive discrete variable stiffness joint (pDVSJ-II) are presented. The pDVSJ-II is an extended proof concept a revolute with discretely controlled stiffness. key motivation behind design need for instantaneous switching between levels when applied remote exploration applications where mapping required, in addition low-energy consumption. novelty work lies topology used to alter joint. Altering achieved by selecting effective...

Safety holds the prime importance in direct physical human-robot interaction (pHRI) tasks. Robots should have ability to handle unexpected collisions unstructured environments. Collision avoidance based on exteroceptive sensors can work these scenarios. However, it may not be sufficient, especially considering that relative motion between robots and humans fast hardly predictable. This highlights of reliable detection reaction techniques for collisions. Rapid switching intrinsic complaint...

Although Cable-driven rehabilitation devices (CDRDs) have several advantages over traditional link-driven devices, including their light weight, ease of reconfiguration, and remote actuation, the majority existing lower-limb CDRDs are limited to in sagittal plane. In this work, we proposed a novel three degrees freedom (DOF) lower limb model which accommodates hip abduction/adduction motion frontal plane, as well knee flexion/extension The was employed investigate feasibility using bi-planar...

In this paper we present the design, development and experimental validation of a novel Binary-Controlled Variable Stiffness Joint (BpVSJ) towards haptic teleoperation human interaction manipulators applications. The proposed actuator is proof concept passive revolute joint, where working principle based on recruitment series-parallel elastic elements. novelty system lies in its design topology, including capability to involve an (n) number elements achieve ( <inline-formula...

The global increase in the number of stroke patients and limited accessibility to rehabilitation has promoted an design development mobile exoskeletons. Robot-assisted is rapidly emerging as a viable tool it could provide intensive repetitive movement training timely standardized delivery therapy compared conventional manual therapy. However, majority existing lower limb exoskeletons continue be heavy induce unnecessary inertia inertial vibration on limb. Cable-driven can overcome these...

This research work aims at realizing a new compliant robotic actuator for safe human-robotic interaction. In this paper, we present the modeling, control and numerical simulations of novel Binary-Controlled Variable Stiffness Actuator (BcVSA) aiming to be used development manipulator. BcVSA is proof concept active revolute joint with variable recruitment series-parallel elastic elements. We briefly recall basic design principle which based on stiffness varying mechanism consisting motor,...

A Genetic-Fuzzy Sliding Mode Controller is presented for DC Servomotor system control. The fuzzy logic controller was optimized by Genetic Algorithm method to reduce and eliminate the chattering phenomenon. To demonstrate effectiveness of approach, a comparison between proposed system, standard were conducted. Simulation results have shown advantages choosing controller, achieve desired results, regardless external disturbance, variation in parameters, or feedback noise.

In this paper, the design and characterization of a novel passive Discrete Variable Stiffness Joint (pDVSJ) is presented. The pDVSJ proof concept revolute joint with discretely controlled variable stiffness. current realization equipped on single-DOF exoskeleton (TELEXOS-I) for future development towards applications in haptic-teleoperation purposed exoskeletons. key motivation behind need instantaneous switching between stiffness levels when applied Virtual Reality (VR) or Remote...

The field of wearable devices and exoskeletons for rehabilitation assistance is one the main fields where variable stiffness actuators (VSAs) are continuously incorporated. This due to need such adapt erratic environments mimic human motions. Recently, a passive revolute joint design with controllable was proposed by authors. However, previous only introduced as proof concept, no further investigation change capabilities application utilization. In this work, we introduce an extended...

Abstract There is a growing interest in the research and development of Cable Driven Rehabilitation Devices (CDRDs) due to multiple inherent features attractive clinical applications, including low inertia, lightweight, high payload-to-weight ratio, large workspace, modular design. However, previous CDRDs have mainly focused on modifying motor impairment sagittal plane, despite fact that neurological disorders, such as stroke, often involve postural control gait planes. To address this gap,...

Tactile sensing represents a crucial technique that can enhance the performance of robotic manipulators in various tasks. This work presents novel bioinspired neuromorphic vision-based tactile sensor uses an event-based camera to quickly capture and convey information about interactions between their environment. The observes deformation flexible skin manufactured from cheap accessible 3D printed material, whereas rigid casing houses components together. is tested grasping stage...

A branch of robotics, variable impedance actuation, along with one its subfields stiffness actuation (VSA) targets the realization complaint robotic manipulators. In this paper, we present modeling, identification, and control a discrete actuator (DVSA), which will be developed for manipulators in future. The working principle depends on involvement series parallel springs. We firstly report conceptual design varying mechanism, later details dynamic model, system techniques are presented....

Loss of upper extremity motor control and function is an unremitting symptom in post-stroke patients. This would impose hardships on accomplishing their daily life activities. Supernumerary robotic limbs (SRLs) were introduced as a solution to regain the lost Degrees Freedom (DoFs) by introducing independent new limb. The actuation systems SRL can be categorized into rigid soft actuators. Soft actuators have proven advantageous over counterparts through intrinsic safety, cost, energy...

Abstract Designing a mechanism for elbow self-axis alignment requires the elimination of undesirable joint motion and tissue elasticity. The novelty this work lies in proposing double-layered interface using 3-PRR planar parallel as solution to axis problem. mechanisms are suitable candidates solve they can span desired workspace relatively compact size. In paper, we present modeling, design, prototyping, validation exoskeleton self-alignment. is specified based on estimated maximum possible...

Abstract In this paper, we present a novel variable-stiffness joint for walking assistance ankle exoskeleton. This design is adaptive to user needs in the sense that it can aid different types of motion, i.e. walking, jogging and running, through stiffness levels. We created concept utilizes multiple springs could contort into orientations order create fully compliant The provides wide range assistive torques without constant replacement parts or each type activity. be utilized by people...