Switched control of an N-degree-of-freedom input delayed wearable robotic system

Automatica ◽  
2021 ◽  
Vol 125 ◽  
pp. 109455
Author(s):  
Zhiyu Sheng ◽  
Ziyue Sun ◽  
Vahidreza Molazadeh ◽  
Nitin Sharma
Keyword(s):  
Robotic System ◽  
Degree Of Freedom ◽  
Switched Control

scholarly journals Smart and Modular

2011 ◽  
Vol 133 (09) ◽  
pp. 48-51
Author(s):  
Harry H. Cheng ◽  
Graham Ryland ◽  
David Ko ◽  
Kevin Gucwa ◽  
Stephen Nestinger
Keyword(s):  
Degrees Of Freedom ◽  
Robotic System ◽  
Search And Rescue ◽  
Degree Of Freedom ◽  
Robotic Systems ◽  
Modular Robots ◽  
Modular Robot ◽  
Modular Systems ◽  
The Past ◽  
Three Degrees Of Freedom

This article discusses the advantages of a modular robot that can reassemble itself for different tasks. Modular robots are composed of multiple, linked modules. Although individual modules can move on their own, the greatest advantage of modular systems is their structural reconfigurability. Modules can be combined and assembled to form configurations for specific tasks and then reassembled to suit other tasks. Modular robotic systems are also very well suited for dynamic and unpredictable application areas such as search and rescue operations. Modular robots can be reconfigured to suit various situations. Quite a number of modular robotic system prototypes have been developed and studied in the past, each containing unique geometries and capabilities. In some systems, a module only has one degree of freedom. In order to exhibit practical functionality, multiple interconnected modules are required. Other modular robotic systems use more complicated modules with two or three degrees of freedom. However, in most of these systems, a single module is incapable of certain fundamental locomotive behaviors, such as turning.

A Microsurgical Robotic System that Induces a Multisensory Illusion

2016 ◽  
Vol 13 (04) ◽  
pp. 1650018 ◽  
Author(s):  
Jumpei Arata ◽  
Kazuo Kiguchi ◽  
Masashi Hattori ◽  
Masamichi Sakaguchi ◽  
Ryu Nakadate ◽  
...  
Keyword(s):  
Time Delay ◽  
Robotic Surgery ◽  
Haptic Feedback ◽  
Robotic System ◽  
Degree Of Freedom ◽  
System Response ◽  
Prototype Implementation ◽  
Hand Coordination ◽  
The Given

Intuitiveness in robotic surgery is highly desirable when performing highly elaborate surgical tasks using surgical master–slave systems (MSSs), such as suturing. To increase the operability of such systems, the time delay of the system response, haptic feedback, and eye–hand coordination are the issues that have received the most attention. In addition to these approaches, we propose a surgical robotic system that induces a multisensory illusion. In our previous study, we reported that a robotic instrument we devised enhances the multisensory illusion. In this paper, we determine the requirements for inducing this multisensory illusion in a multi-degree-of-freedom (DOF) MSS, and the first stage of prototype implementation based on the given requirements is described.

Validation of a six degree-of-freedom robotic system for hip in vitro biomechanical testing

2015 ◽  
Vol 48 (15) ◽  
pp. 4093-4100 ◽  
Author(s):  
Mary T. Goldsmith ◽  
Matthew T. Rasmussen ◽  
Travis Lee Turnbull ◽  
Christiano A.C. Trindade ◽  
Robert F. LaPrade ◽  
...  
Keyword(s):  
Biomechanical Testing ◽  
Robotic System ◽  
Degree Of Freedom ◽  
Six Degree Of Freedom

scholarly journals Control Method for Realistic Motion in a Construction Tele-robotic System with a 3-DOF Parallel Mechanism

2003 ◽  
Vol 15 (4) ◽  
pp. 361-368 ◽  
Author(s):  
Dingxuan Zhao ◽  
◽  
Yupeng Xia ◽  
Hironao Yamada ◽  
Takayoshi Muto
Keyword(s):  
Parallel Mechanism ◽  
Control Method ◽  
Robotic System ◽  
Degree Of Freedom ◽  
Experimental Result ◽  
Parallel Mechanisms ◽  
High Quality ◽  
Link Mechanism ◽  
Acceleration Sensors ◽  
Parallel Link

In this study, we developed a construction tele-robotic system, which can be widely used, for example, for restoration works in damaged areas. The system consists of a servo-controlled construction robot, two joysticks for operations of the robot from a remote place and a 3-degree-of-freedom (DOF) parallel mechanism. An important problem to be solved in such a system is how to convey adequate presence of working area in a high quality to the operator. In this paper, we propose a control method of a 3-DOF parallel link mechanism to simulate the motion of the construction robot by using three acceleration sensors. The validity of this method has been confirmed experimentally. According to the experimental result, each motion of roll, pitch and heave of the construction robot can be simulated accurately by the 3-DOF parallel mechanisms.

scholarly journals Biomechanical Assessment of Hip Capsular Repair and Reconstruction Procedures Using a 6 Degree-Of-Freedom Robotic System

2017 ◽  
Vol 33 (10) ◽  
pp. e145
Author(s):  
Robert F. LaPrade ◽  
Christiano A.C. Trindade ◽  
Marc J. Philippon ◽  
Mary T. Goldsmith ◽  
Matthew T. Rasmussen ◽  
...  
Keyword(s):  
Robotic System ◽  
Degree Of Freedom ◽  
Biomechanical Assessment ◽  
Capsular Repair

Design and Kinematical Performance Analysis of a 3-RUS/RRR Redundantly Actuated Parallel Mechanism for Ankle Rehabilitation

2013 ◽  
Vol 5 (4) ◽  
Author(s):  
Congzhe Wang ◽  
Yuefa Fang ◽  
Sheng Guo ◽  
Yaqiong Chen
Keyword(s):  
Performance Analysis ◽  
Conceptual Design ◽  
Parallel Mechanism ◽  
Structural Characteristics ◽  
Robotic System ◽  
Degree Of Freedom ◽  
Redundant Robot ◽  
Ankle Rehabilitation ◽  
Redundantly Actuated ◽  
Rehabilitation Exercise

In this paper, we present the design of a novel 3-RUS/RRR redundantly actuated parallel mechanism for ankle rehabilitation based on the principle from the conceptual design. The proposed mechanism can actualize the rotational movements of the ankle in three directions while at the same time the mechanism center of rotations can match the ankle axes of rotations compared with other multi-degree-of-freedom devices, owing to the structural characteristics of the special constraint limb and platform. A new actuator redundancy scheme is used, which not only still maintains all inherent advantages from actuator redundancy but also possesses the kinematic partially decouple feature that improves the flexibility of the robotic system. Kinematic performances, such as dexterity, singularity and stiffness, are analyzed based on the computed Jacobian. Then simulation is performed. All the results show that the redundant robot has no singularity, better dexterity and stiffness within the prescribed workspace in comparison with the corresponding 3-RUS/RRR nonredundant robot, and is suitable for rehabilitation exercise.

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