Download or read book Supernumerary Robotic Limbs for Human Augmentation in Overhead Assembly Tasks written by Lawrence Zack Bright and published by . This book was released on 2017 with total page 95 pages. Available in PDF, EPUB and Kindle. Book excerpt: Manufacturing tasks are highly demanding of work, and there is an especially high prevalence of injury associated with overhead tasks which are taxing to the shoulder and upper body. To assist workers completing these tasks, and to increase overall productivity, safety and effectiveness, we introduce a novel design of Supernumerary Robotic Limb (SRL). This is a robotic arm worn on the shoulder of the technician/- worker which extends the human capability with implicit force control algorithms that allow for intuitive control and interface of the extra robot arm. Affectionately dubbed Aucto, the robotic arm can lift an object and hold it while the wearer is securing the object using a tool with both hands. The worker does not have to take a laborious posture for a long time, reducing fatigue and injuries. Furthermore, a single worker can execute the task, which would otherwise require two workers. Two technical challenges and novel solutions are presented. One is to make the wearable robot simple and lightweight with use of a new type of granular jamming gripper that can grasp diverse objects from an arbitrary direction. This eliminates the need for orienting the gripper against the object with three-axis wrist joints, reducing the number of degrees of freedom (DOF) from 6 to 3. The other is an effective control algorithm that allows the wearer to move freely while the robot on the shoulder is holding an object. Unlike a robot sitting on a floor, the SRL worn by a human is disturbed by the movement of the wearer. An admittance-based control algorithm allows the robot to hold the object stably and securely despite the human movement and changes in posture. A 3 DOF prototype robot with a new granular jamming gripper and an ergonomic body mounting gear is developed and tested. It is demonstrated that the robot can hold a large object securely in the overhead area despite the movement of the wearer while performing an assembly work.
Download or read book Design and Control of Supernumerary Robotic Limbs written by Federico Parietti and published by . This book was released on 2016 with total page 181 pages. Available in PDF, EPUB and Kindle. Book excerpt: Humans possess the remarkable ability to control their four natural limbs in a voluntary, accurate and independent manner. The simultaneous use of two or more limbs allows humans to learn and robustly perform a wide range of complex tasks. Since the use of multiple limbs enables humans to master advanced motor skills, it would be interesting to study whether having additional limbs would enable users to expand their skill set beyond its natural limits. Inspired by this vision, we propose a new form of human augmentation: a wearable robot that augments its user by providing him with an additional set of robotic limbs. We named this new device Supernumerary Robotic Limbs (SRL). However, humans have never had the possibility to control additional, powered limbs besides their natural arms and legs. The main theme of this thesis, besides realizing a prototype of the robot and proving its usefulness in realworld tasks, is demonstrating that humans can voluntarily control additional limbs as if they were a part of their own body. We realized a lightweight (3.5 kg), comfortable prototype of the SRL that can be easily worn by an unassisted user. Two robotic limbs can assist the user in both manufacturing and locomotion tasks. We created control strategies that take advantage of the independence of the robotic limbs, enabling them to provide optimal assistance in specific tasks such as weight support, body stabilization, using powered tools, sitting/standing and dynamic walking. Finally, we developed an EMG-based control interface that enables users to voluntarily control the motion of the robotic limbs, without interfering with the posture of the rest of the body. The new augmentation technology presented in this thesis opens up new possibilities in the field of wearable robotics. The voluntary control of additional robotic limbs falls within the range of motor skills that humans can learn, and enables the acquisition of a new set of complex skills that would not be achievable using only the natural body..
Download or read book Supernumerary Robotic Limbs written by Baldin Adolfo Llorens-Bonilla and published by . This book was released on 2013 with total page 89 pages. Available in PDF, EPUB and Kindle. Book excerpt: Full automation of repetitive and/or specialized tasks has become a preferred means to meet the needs of manufacturing industries. However, some tasks cannot be fully automated due to their complexity or the nature of the work environment. In such cases, semi-automation through human-robot collaboration is a strong alternative that still maintains a high level of efficiency in task execution. This thesis focused on the control and coordination issues of the Supernumerary Robotic Limbs (SRL); a pair of wearable robotic limbs that are a potential solution to these issues. The first purpose of this study was to adequately model the collaborative aspect of a task that is conventionally performed by two coworkers. This was achieved through the Coloured Petri Nets (CPN) tool, which was able to model the collaboration between two coworkers by using the SRL and its operator instead. The second purpose of this work was to evaluate how to implement a sensor suit to establish reliable communication between the SRL and its operator. Using data-driven methods for detection, we were able to monitor the operator's current state. By combining this data with the CPN task model we were able to relay the operator's intentions to the SRL. This enabled the SRL to follow the CPN process model in a timely and coordinated manner together with its operator. The third and final section of this thesis focused on considering the interchangeability of roles between the SRL and its operator. We used a datadriven approach to model a task where the SRL and its operator had to perform a simultaneous dynamic task. This was performed by using teach by demonstration techniques on process data from two workers. A control algorithm was then extracted from the actions of the supporting worker. Both the process model and the sensor suit, together with the detection algorithms, were implemented and validated using the first prototype of the SRL. Results show that the SRL was successful in autonomously coordinating with its operator and completing an intercostal assembly task.
Download or read book Contributions of the Human Operator to Supernumerary Robotic Limbs written by Jacob William Guggenheim and published by . This book was released on 2020 with total page 103 pages. Available in PDF, EPUB and Kindle. Book excerpt: An expanding literature base has applied Supernumerary Robotic Limbs (Superlimbs) to fields as diverse as heavy industry, robotic surgery, and assistive technology. While the list of applications has grown, and the designs have become more diverse, the research community has focused almost exclusively on the robotic system's role in augmenting the humans capabilities. This represents only one side of the issue; little research has explored the role of the human operator. This thesis represents the first in-depth exploration of the humans contributions to the Superlimb-human system. We began by examining the control strategy of Superlimbs by asking whether fully manual control of the Superlimbs was viable when the human operator was asked to perform simultaneous and independent tasks with both their robotic and natural limbs. Although we found that the human operator was able to control all four limbs-two robotic, two natural-simultaneously, we found that the human operator performed worse with their natural limbs when controlling all four limbs as compared to when the human operator was only controlling their natural limbs. Thus, when designing Superlimbs for a task set that requires the human and the robot to perform simultaneous independent tasks, this study points to the need for reducing the number of Superlimb degrees of freedom (DOFs) the human must manually control either through design or control. In order to achieve this reduction, we next exploited the high redundancy and flexibility of the human body. First, we proposed a methodology for reduced-actuator Superlimbs by exploiting the human operators' ability to manipulate the base of the Superlimb. Based upon this methodology, we realized a lightweight Superlimb that could assist a human operator by opening a door when the human operator's hands are busy. Second, we proposed a novel control input methodology for communicating a rich variety of commands to the Superlimbs while both hands are busy. Based upon this methodology, and in combination with an intermittent control structure, we controlled the reduced-actuator Superlimb described above with action primitives to assist a human operator by opening a door when the human operator was holding a large box. Finally, as the Superlimb's state changes, that change is reflected as a change in the forces and torques felt by the human operator at the base of the Superlimb. We found that this inherent haptic feedback allowed the operator to both perform closed-loop manually control of the force output of a Superlimb and to supervise the autonomous actions of a Superlimb. In sum, this thesis explores how Superlimbs can be designed to exploit the benefits while limiting the challenges of being attached to a human operator.
Download or read book Intelligent Robotics and Applications written by Huayong Yang and published by Springer Nature. This book was released on 2023-10-12 with total page 607 pages. Available in PDF, EPUB and Kindle. Book excerpt: The 9-volume set LNAI 14267-14275 constitutes the proceedings of the 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023, which took place in Hangzhou, China, during July 5–7, 2023. The 413 papers included in these proceedings were carefully reviewed and selected from 630 submissions. They were organized in topical sections as follows: Part I: Human-Centric Technologies for Seamless Human-Robot Collaboration; Multimodal Collaborative Perception and Fusion; Intelligent Robot Perception in Unknown Environments; Vision-Based Human Robot Interaction and Application. Part II: Vision-Based Human Robot Interaction and Application; Reliable AI on Machine Human Reactions; Wearable Sensors and Robots; Wearable Robots for Assistance, Augmentation and Rehabilitation of Human Movements; Perception and Manipulation of Dexterous Hand for Humanoid Robot. Part III: Perception and Manipulation of Dexterous Hand for Humanoid Robot; Medical Imaging for Biomedical Robotics; Advanced Underwater Robot Technologies; Innovative Design and Performance Evaluation of Robot Mechanisms; Evaluation of Wearable Robots for Assistance and Rehabilitation; 3D Printing Soft Robots. Part IV: 3D Printing Soft Robots; Dielectric Elastomer Actuators for Soft Robotics; Human-like Locomotion and Manipulation; Pattern Recognition and Machine Learning for Smart Robots. Part V: Pattern Recognition and Machine Learning for Smart Robots; Robotic Tactile Sensation, Perception, and Applications; Advanced Sensing and Control Technology for Human-Robot Interaction; Knowledge-Based Robot Decision-Making and Manipulation; Design and Control of Legged Robots. Part VI: Design and Control of Legged Robots; Robots in Tunnelling and Underground Space; Robotic Machining of Complex Components; Clinically Oriented Design in Robotic Surgery and Rehabilitation; Visual and Visual-Tactile Perception for Robotics. Part VII: Visual and Visual-Tactile Perception for Robotics; Perception, Interaction, and Control of Wearable Robots; Marine Robotics and Applications; Multi-Robot Systems for Real World Applications; Physical and Neurological Human-Robot Interaction. Part VIII: Physical and Neurological Human-Robot Interaction; Advanced Motion Control Technologies for Mobile Robots; Intelligent Inspection Robotics; Robotics in Sustainable Manufacturing for Carbon Neutrality; Innovative Design and Performance Evaluation of Robot Mechanisms. Part IX: Innovative Design and Performance Evaluation of Robot Mechanisms; Cutting-Edge Research in Robotics.
Download or read book Intelligent Robotics and Applications written by Xin-Jun Liu and published by Springer Nature. This book was released on 2021-10-17 with total page 853 pages. Available in PDF, EPUB and Kindle. Book excerpt: The 4-volume set LNAI 13013 – 13016 constitutes the proceedings of the 14th International Conference on Intelligent Robotics and Applications, ICIRA 2021, which took place in Yantai, China, during October 22-25, 2021. The 299 papers included in these proceedings were carefully reviewed and selected from 386 submissions. They were organized in topical sections as follows: Robotics dexterous manipulation; sensors, actuators, and controllers for soft and hybrid robots; cable-driven parallel robot; human-centered wearable robotics; hybrid system modeling and human-machine interface; robot manipulation skills learning; micro_nano materials, devices, and systems for biomedical applications; actuating, sensing, control, and instrumentation for ultra-precision engineering; human-robot collaboration; robotic machining; medical robot; machine intelligence for human motion analytics; human-robot interaction for service robots; novel mechanisms, robots and applications; space robot and on-orbit service; neural learning enhanced motion planning and control for human robot interaction; medical engineering.
Download or read book Advances in Guidance Navigation and Control written by Liang Yan and published by Springer Nature. This book was released on 2023-02-10 with total page 7455 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book features the latest theoretical results and techniques in the field of guidance, navigation, and control (GNC) of vehicles and aircrafts. It covers a wide range of topics, including but not limited to, intelligent computing communication and control; new methods of navigation, estimation and tracking; control of multiple moving objects; manned and autonomous unmanned systems; guidance, navigation and control of miniature aircraft; and sensor systems for guidance, navigation and control etc. Presenting recent advances in the form of illustrations, tables, and text, it also provides detailed information of a number of the studies, to offer readers insights for their own research. In addition, the book addresses fundamental concepts and studies in the development of GNC, making it a valuable resource for both beginners and researchers wanting to further their understanding of guidance, navigation, and control.
Download or read book Handbook of Robotic and Image Guided Surgery written by Mohammad Hossein Abedin Nasab and published by Elsevier. This book was released on 2019-09-25 with total page 753 pages. Available in PDF, EPUB and Kindle. Book excerpt: Handbook of Robotic and Image-Guided Surgery provides state-of-the-art systems and methods for robotic and computer-assisted surgeries. In this masterpiece, contributions of 169 researchers from 19 countries have been gathered to provide 38 chapters. This handbook is 744 pages, includes 659 figures and 61 videos. It also provides basic medical knowledge for engineers and basic engineering principles for surgeons. A key strength of this text is the fusion of engineering, radiology, and surgical principles into one book. - A thorough and in-depth handbook on surgical robotics and image-guided surgery which includes both fundamentals and advances in the field - A comprehensive reference on robot-assisted laparoscopic, orthopedic, and head-and-neck surgeries - Chapters are contributed by worldwide experts from both engineering and surgical backgrounds
Download or read book Augmenting Human Manipulation Abilities with Supernumerary Robotic Limbs written by Irfan Hussain and published by Springer Nature. This book was released on 2020-07-17 with total page 155 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book offers a timely report on an emerging topic in the field of wearable assistive technology: the design and development of robotic extra fingers. After a concise review of the state of the art and a description of earlier prototypes, it discusses the authors’ efforts to address issues such as portability and wearability of the devices, including strategies to reduce fatigue and to integrate the motion of the extra fingers with that of the human hand. The book also explores optimized control algorithms and the design of wearable sensorimotor interfaces, and presents a set of tests carried out on healthy subjects and chronic stroke patients. Merging concepts from robotics, biomechanics, human factors and control theory and offering an overview of supernumerary robotic fingers, including the challenges, this book will inspire researchers involved in the development of wearable robotic devices and interfaces based on the principles of wearability, safety, ergonomics and user comfort.
Download or read book Wearable Robotics written by Jacob Rosen and published by Academic Press. This book was released on 2019-11-16 with total page 551 pages. Available in PDF, EPUB and Kindle. Book excerpt: Wearable Robotics: Systems and Applications provides a comprehensive overview of the entire field of wearable robotics, including active orthotics (exoskeleton) and active prosthetics for the upper and lower limb and full body. In its two major sections, wearable robotics systems are described from both engineering perspectives and their application in medicine and industry. Systems and applications at various levels of the development cycle are presented, including those that are still under active research and development, systems that are under preliminary or full clinical trials, and those in commercialized products. This book is a great resource for anyone working in this field, including researchers, industry professionals and those who want to use it as a teaching mechanism. Provides a comprehensive overview of the entire field, with both engineering and medical perspectives Helps readers quickly and efficiently design and develop wearable robotics for healthcare applications
Download or read book The Grasping Hand written by C.L. MacKenzie and published by Elsevier. This book was released on 1994-02-03 with total page 501 pages. Available in PDF, EPUB and Kindle. Book excerpt: The simple task of grasping objects has been studied for centuries by scientists, therapists and engineers who have tried to understand and duplicate the versatility of the human hand. Using an interdisciplinary approach and new framework for looking at prehension, the authors uncover the subleties of the amazing interaction between the hand and the brain. They draw from such diverse fields as experimental psychology, kinesiology, robotics, neural networks, artificial intelligence, neuropsychology and rehabilitation. A triangle strategy is presented, starting from conceptual models that suggest both experimental and computational models. Chapters describe the multiple postures established by the hand, phases in the dynamic process of reaching for, grasping and manipulating various objects, and the constraints acting on such activity.Appendices provide the complete anatomy of the upper limb, the basics of computational modelling, and the fundamentals of prosthetic and dextrous robot hands. The ultimate goal of this book is to develop a common vocabularly for multidisciplinary researchers who strive to understand a system as complex as the hand under the control of the human brain.
Download or read book Wearable Exoskeleton Systems written by Shaoping Bai and published by Control, Robotics and Sensors. This book was released on 2018 with total page 405 pages. Available in PDF, EPUB and Kindle. Book excerpt: Wearable exoskeletons are electro-mechanical systems designed to assist, augment, or enhance motion and mobility in a variety of human motion applications and scenarios. The applications, ranging from providing power supplementation to assist the wearers to situations where human motion is resisted for exercising applications, cover a wide range of domains such as medical devices for patient rehabilitation training recovering from trauma, movement aids for disabled persons, personal care robots for providing daily living assistance, and reduction of physical burden in industrial and military applications. The development of effective and affordable wearable exoskeletons poses several design, control and modelling challenges to researchers and manufacturers. Novel technologies are therefore being developed in adaptive motion controllers, human-robot interaction control, biological sensors and actuators, materials and structures, etc. In this book, the editors and authors report recent advances and technology breakthroughs in exoskeleton developments. It will be of interest to engineers and researchers in academia and industry as well as manufacturing companies interested in developing new markets in wearable exoskeleton robotics.
Download or read book Intelligent Robotics and Applications written by Xin-Jun Liu and published by Springer. This book was released on 2021-10-18 with total page 846 pages. Available in PDF, EPUB and Kindle. Book excerpt: The 4-volume set LNAI 13013 – 13016 constitutes the proceedings of the 14th International Conference on Intelligent Robotics and Applications, ICIRA 2021, which took place in Yantai, China, during October 22-25, 2021. The 299 papers included in these proceedings were carefully reviewed and selected from 386 submissions. They were organized in topical sections as follows: Robotics dexterous manipulation; sensors, actuators, and controllers for soft and hybrid robots; cable-driven parallel robot; human-centered wearable robotics; hybrid system modeling and human-machine interface; robot manipulation skills learning; micro_nano materials, devices, and systems for biomedical applications; actuating, sensing, control, and instrumentation for ultra-precision engineering; human-robot collaboration; robotic machining; medical robot; machine intelligence for human motion analytics; human-robot interaction for service robots; novel mechanisms, robots and applications; space robot and on-orbit service; neural learning enhanced motion planning and control for human robot interaction; medical engineering.
Download or read book Biped Locomotion written by Miomir Vukobratovic and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 366 pages. Available in PDF, EPUB and Kindle. Book excerpt: Here for the first time in one book is a comprehensive and systematic approach to the dynamic modeling and control of biped locomotion robots. A survey is included of various approaches to the control of biped robots, and a new approach to the control of biped systems based on a complete dynamic model is presented in detail. The stability of complete biped system is presented for the first time as a highly nonlinear dynamic system. Also included is new software for the synthesis of a dynamically stable walk for arbitrary biped systems, presented here for the first time. A survey of various realizations of biped systems and numerous numerical examples are given. The reader is given a deep insight into the entire area of biped locomotion. The book covers all relevant approaches to the subject and gives the most complete account to date of dynamic modeling, control and realizations of biped systems.
Download or read book Wearable Robotics written by Maria Chiara Carrozza and published by . This book was released on 2019 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The book reports on advanced topics in the areas of wearable robotics research and practice. It focuses on new technologies, including neural interfaces, soft wearable robots, sensors and actuators technologies, and discusses important regulatory challenges, as well as clinical and ethical issues. Based on the 4th International Symposium on Wearable Robotics, WeRob2018, held October 16-20, 2018, in Pisa, Italy, the book addresses a large audience of academics and professionals working in government, industry, and medical centers, and end-users alike. It provides them with specialized information and with a source of inspiration for new ideas and collaborations. It discusses exemplary case studies highlighting practical challenges related to the implementation of wearable robots in a number of fields. One of the focus is on clinical applications, which was encouraged by the colocation of WeRob2018 with the International Conference on Neurorehabilitation, INCR2018. Additional topics include space applications and assistive technologies in the industry. The book merges together the engineering, medical, ethical and political perspectives, thus offering a multidisciplinary, timely snapshot of the field of wearable technologies. .
Download or read book Wearable Robotics Challenges and Trends written by José González-Vargas and published by Springer. This book was released on 2016-10-04 with total page 393 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book reports on advanced topics in the areas of wearable robotics research and practice. It focuses on new technologies, including neural interfaces, soft wearable robots, sensors and actuators technologies, and discusses important regulatory challenges, as well as clinical and ethical issues. Based on the 2nd International Symposium on Wearable Robotics, WeRob2016, held October 18-21, 2016, in Segovia, Spain, the book addresses a large audience of academics and professionals working in government, industry, and medical centers, and end-users alike. It provides them with specialized information and with a source of inspiration for new ideas and collaborations. It discusses exemplary case studies highlighting practical challenges related to the implementation of wearable robots in a number of fields. One of the focus is on clinical applications, which was encouraged by the colocation of WeRob2016 with the International Conference on Neurorehabilitation, INCR2016. Additional topics include space applications and assistive technologies in the industry. The book merges together the engineering, medical, ethical and political perspectives, thus offering a multidisciplinary, timely snapshot of the field of wearable technologies.
Download or read book Underactuated Robotic Hands written by Lionel Birglen and published by Springer Science & Business Media. This book was released on 2008-02-11 with total page 248 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is a cornerstone publication in robotic grasping. The authors have developed an internationally recognized expertise in this area. Additionally, they designed and built several prototypes which attracted the attention of the scientific community. The purpose of this book is to summarize years of research and to present, in an attractive format, the expertise developed by the authors on a new technology for grasping which has achieved great success both in theory and in practice.
