Current Issue : January - March Volume : 2019 Issue Number : 1 Articles : 5 Articles
Robot-assisted intervention has been successfully applied to the education and training of children with autism spectrum disorders.\nHowever, it is necessary to increase the autonomy of the robot to reduce the burden on the human therapists. This paper focuses on\nproposing a robotic architecture to improve the autonomy of the robot in the course of the interaction between the robot and the\nchild with autism. Following the model of perception-cognition-action, the architecture also incorporates some of the concepts of\ntraditional autism intervention approach and the human cognitive model. The details of the robotic architecture are described in\nthis paper, and in the end, a typical scenario is used to verify the proposed method....
Under the network environment, the traditional control method of underwater Robot path has the disadvantages of low control\naccuracy, large error, and inefficiency.This paper proposes a novel path control method for underwater Robots based on theNURBS\n(nonuniform rational B-spline, NURBS) curve fitting method, which utilizes a sensor or camera to detect the static and dynamic\nobstacles, establishes the kinematics model of underwater Robots, gets the target function of rob shortest path, and analyzes\nunderwater Robot constraints. According to the basic fluid mechanics, the resistance of the underwater Robot is determined.The\nfilter function is used to smooth the process, and the NURBS curve fitting method is applied to control the path of the underwater\nRobot. Experimental results show that the improved method that proved to be practical is superior to the traditional one in the\naspect of control time and accuracy....
We are interested in developing a new control architecture to command a mobile robot in a partially known environment. For\nthat purpose, a hybrid control architecture is adopted, combining the reactive and the deliberative method. The reactive method\nconsists of the hierarchical fuzzy controllers based on Type-2 Fuzzy Logic System (T2-FLS), dedicated to commanding the robot\ntowards a mobile target while avoiding unexpected obstacles. A comparative study is made to show the efficiency of T2-FLS against\nType-1 Fuzzy Logic System (T1-FLS). Additionally, the used deliberative method is the sliding mode, allowing the robot to track\nthe mobile goal trajectory. Simulation results are given finally to test the proposed architecture....
Demand for highly compliant mechanical sensors for use in the fields of robotics and\nwearable electronics has been constantly rising in recent times. Carbon based materials, and especially,\ncarbon nanotubes, have been widely studied as a candidate piezoresistive sensing medium in these\ndevices due to their favorable structural morphology. In this paper three different carbon based\nmaterials, namely carbon black, graphene nano-platelets, and multi-walled carbon nanotubes, were\nutilized as large stretch sensors capable of measuring stretches over 250%. These stretch sensors can\nbe used in robotic hands/arms to determine the angular position of joints. Analysis was also carried\nout to understand the effect of the morphologies of the carbon particles on the electro mechanical\nresponse of the sensors. Sensors with gauge factors ranging from one to 1.75 for strain up to 200%\nwere obtained. Among these sensors, the stretch sensors with carbon black/silicone composite were\nfound to have the highest gauge factor while demonstrating acceptable hysteresis in most robotic\nhand applications. The highly flexible stretch sensors demonstrated in this work show high levels of\ncompliance and conformance making them ideal candidates as sensors for soft robotics....
Exoskeleton robots demonstrate promise in their application in assisting or enhancing\nhuman physical capacity. Joint muscular torques (JMT) reflect human effort, which can be applied on\nan exoskeleton robot to realize an active power-assist function. The estimation of human JMT\nwith a wearable exoskeleton is challenging. This paper proposed a novel human lower limb JMT\nestimation method based on the inverse dynamics of the human body. The method has two main\nparts: the inverse dynamic approach (IDA) and the sensing system. We solve the inverse dynamics\nof each human leg separately to shorten the serial chain and reduce computational complexity,\nand divide the JMT into the mass-induced one and the foot-contact-force (FCF)-induced one to\navoid switching the dynamic equation due to different contact states of the feet. An exoskeleton\nembedded sensing system is designed to obtain the userâ??s motion data and FCF required by the\nIDA by mapping motion information from the exoskeleton to the human body. Compared with the\npopular electromyography (EMG) and wearable sensor based solutions, electrodes, sensors, and\ncomplex wiring on the human body are eliminated to improve wearing convenience. A comparison\nexperiment shows that this method produces close output to a motion analysis system with different\nsubjects in different motion....
Loading....