scholarly journals Control-Oriented Finger Kinematic Model: Geometry-Based Approach

2019 ◽  
Vol 11 (6) ◽  
Author(s):  
Jong-Seob Won ◽  
Nina Robson
Keyword(s):  
Degrees Of Freedom ◽  
Control Strategies ◽  
Kinematic Model ◽  
Systems Design ◽  
Single Parameter ◽  
Human Hand ◽  
Cylindrical Object ◽  
Proposed Model ◽  
Human Finger ◽  
And Control

Abstract This paper proposes a novel finger kinematic model for human hand configurations, which applies to the realization of a naturalistic human finger motion for robotic finger systems and artificial hands. The proposed finger model is derived based on the geometry of a hand shape grasping a virtual cylindrical object. The model is capable of describing the natural rotation configuration of the joints of a long finger with three degrees of freedom by a single parameter, i.e., the radius of a cylindrical object. Experimental validation of the model shows that it can simulate closely naturalistic human finger movements. With the use of the proposed model, discussions were made on how to achieve multifinger coordination that makes task-specific hand movements or a posture for specific hand actions. Due to the simplicity of the model to define joints angle configuration in a long finger by a single parameter, the combination of the proposed model and the multifinger coordination concept discussed can be seen as an inclusive framework in human-like hand systems design and control. This paper is the first step toward exploring future novel combined design–control strategies for the development of under-actuated prosthetic and powered orthotic devices for the naturalistic motion that are based on both Cartesian space trajectory tracking and joint angle coordination.

Towards Creating Inter-Finger Kinematic Models for Natural Coordination Derived From Grasping of Virtual Objects

2020 ◽  
Author(s):  
Nina Robson ◽  
Brianda Chavez ◽  
Jong-Seob Won
Keyword(s):  
Control Strategies ◽  
Kinematic Model ◽  
Joint Model ◽  
Human Hand ◽  
Design Assessment ◽  
Object A ◽  
Coordination Model ◽  
Cylindrical Object ◽  
Kinematic Models ◽  
Human Finger

Abstract This paper builds up on a recently developed novel planar inter-joint finger kinematic model for human hand configurations, which applies to the realization of a naturalistic human finger motion. The model is a function of the finger anthropomorphic data and is derived based on the geometry of a hand shape grasping a virtual cylindrical object. Unlike well-known inverse kinematics models, the inter-joint model is capable of describing the natural rotation configuration of the joints of a long finger independently by a single parameter, the radius of the cylindrical object. A novel inter-finger coordination model, based on the inter-joint model is proposed and experimentally tested. The preliminary results show that the model has the potential to simulate naturalistic human hand grasping motion. The merit of the proposed inter-finger coordination model is in its simplicity when used in hand-exoskeleton design assessment and naturalistic hand trajectory planning applications, among others. We would like to note that this paper is the first step towards exploring future simplified combined design-control strategies for the development and assessment of mechanical limbs for naturalistic movement.

Development of a Hybrid Dynamic Model and Experimental Identification of Robotic Bulldozing

2012 ◽  
Vol 135 (2) ◽  
Author(s):  
Scott G. Olsen ◽  
Gary M. Bone
Keyword(s):  
Dynamic Model ◽  
Degrees Of Freedom ◽  
Control Strategies ◽  
Nonlinear Differential Equations ◽  
Model Framework ◽  
Modeling And Control ◽  
Low Level ◽  
Proposed Model ◽  
The Individual ◽  
And Control

The low-level modeling and control of mobile robots that interact forcibly with their environment, such as robotic excavation machinery, is a challenging problem that has not been adequately addressed in prior research. This paper investigates the low-level modeling of robotic bulldozing. The proposed model characterizes the three primary degrees-of-freedom (DOF) of the bulldozer, the blade position, the material accumulation on the blade, and the material distribution in the environment. It includes discrete operation modes contained within a hybrid dynamic model framework. The dynamics of the individual modes are represented by a set of linear and nonlinear differential equations. An instrumented scaled-down bulldozer and environment are developed to emulate the full scale operation. Model parameter estimation and validation are completed using experimental data from this system. The model is refined based on a global sensitivity analysis. The refined model is suitable for simulation and design of robotic bulldozing control strategies.

scholarly journals A Model-Based Method for Estimating the Attitude of Underground Articulated Vehicles

Sensors ◽  
2019 ◽  
Vol 19 (23) ◽  
pp. 5245 ◽  
Author(s):  
Lulu Gao ◽  
Fei Ma ◽  
Chun Jin
Keyword(s):  
Field Test ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Measurement Unit ◽  
Model Based ◽  
Proposed Model ◽  
Articulated Vehicles ◽  
Free Environment ◽  
And Control ◽  
Novel Model

This paper presents a novel model-based method for estimating the attitude of underground articulated vehicles (UAV). We selected the Load–Haul–Dump (LHD) vehicle as our application object, as it is a typical UAV. First, we established the involved models of the LHD vehicle, including a kinematic model, the linear and angular constraints of a center articulation model, and a dynamic four degrees-of-freedom (DOF) yaw model. Second, we designed a Kalman filter (KF) to integrate the kinematic and constraint models with the data from an inertial measurement unit (IMU), overcoming gyroscope drift and disturbances in external acceleration. In addition, we designed another KF to estimate the yaw based on the dynamic yaw model. The accuracy of the estimations was further enhanced by data fusion. Then, the proposed method was validated by a simulation and a field test under different dynamic conditions. The errors in the estimation of roll, pitch, and yaw were 3.8%, 2.4%, and 4.2%, respectively, in the field test. The estimated longitudinal acceleration was used to obtain the velocity of the LHD vehicle; the error was found to be 1.2%. A comparison of these results to those of other methods showed that the proposed method has high precision. The proposed model-based method will greatly benefit the location, navigation, and control of UAVs without any artificial infrastructure in a global positioning system (GPS)-free environment.

scholarly journals Guidance Navigation and Control for Autonomous Multiple Spacecraft Assembly: Analysis and Experimentation

2011 ◽  
Vol 2011 ◽  
pp. 1-18 ◽  
Author(s):  
Riccardo Bevilacqua ◽  
Marcello Romano ◽  
Fabio Curti ◽  
Andrew P. Caprari ◽  
Veronica Pellegrini
Keyword(s):  
Degrees Of Freedom ◽  
Control Strategies ◽  
Guidance And Control ◽  
Navigation And Control ◽  
Rotational Degrees Of Freedom ◽  
Multiple Spacecraft ◽  
Three Degree Of Freedom ◽  
Extra State ◽  
And Control ◽  
Spacecraft Assembly

This work introduces theoretical developments and experimental verification for Guidance, Navigation, and Control of autonomous multiple spacecraft assembly. We here address the in-plane orbital assembly case, where two translational and one rotational degrees of freedom are considered. Each spacecraft involved in the assembly is both chaser and target at the same time. The guidance and control strategies are LQR-based, designed to take into account the evolving shape and mass properties of the assembling spacecraft. Each spacecraft runs symmetric algorithms. The relative navigation is based on augmenting the target's state vector by introducing, as extra state components, the target's control inputs. By using the proposed navigation method, a chaser spacecraft can estimate the relative position, the attitude and the control inputs of a target spacecraft, flying in its proximity. The proposed approaches are successfully validated via hardware-in-the-loop experimentation, using four autonomous three-degree-of-freedom robotic spacecraft simulators, floating on a flat floor.

scholarly journals A novel under-actuated bionic hand and its grasping stability analysis

2017 ◽  
Vol 9 (2) ◽  
pp. 168781401668885 ◽  
Author(s):  
Xin Li ◽  
Qiang Huang ◽  
Xuechao Chen ◽  
Zhangguo Yu ◽  
Jinying Zhu ◽  
...  
Keyword(s):  
Stability Analysis ◽  
Degrees Of Freedom ◽  
High Efficiency ◽  
Human Hand ◽  
The Novel ◽  
Linkage Mechanism ◽  
Load Range ◽  
Transmission Mechanisms ◽  
And Control ◽  
4 Degrees Of Freedom

This article presents a novel under-actuated robot hand, which has a thumb and two cooperative fingers. The thumb has two joints with 2 degrees of freedom driven by one motor. Each of the other two fingers has the same mechanism structure with the thumb and forms a cooperative mechanism, which is driven by only one motor with 4 degrees of freedom in total. All the under-actuated fingers are designed with the transmission mechanisms based on a kind of mechanism combined with the linkage mechanism and the passive elements. In this article, it is shown that under-actuated hand is able to reproduce most of the grasping behaviors of the human hand anthropomorphically and self-adaptively, without increasing the complexity of mechanism and control. The grasping stability analysis is given to help to understand the size range and load range of a stable grasp. Finally, the experiment results verify the high efficiency and stability of the novel mechanism.

Modeling and Control of a Spherical Inverted Pendulum With Actuator Saturation

2019 ◽  
Author(s):  
Geovani Bondo ◽  
Chengzhi Yuan ◽  
Chang Duan
Keyword(s):  
Degrees Of Freedom ◽  
Inverted Pendulum ◽  
Actuator Saturation ◽  
Control Strategies ◽  
Mathematic Model ◽  
Disturbance Attenuation ◽  
Modeling And Control ◽  
Advanced Control ◽  
The Stability ◽  
And Control

Abstract This paper studies the modeling and control of a spherical inverted pendulum (SIP). The SIP is deemed to be a reasonable model for rocket-propelled body and is often used to test advanced control strategies. The mathematic model is derived based on a Quanser two degrees-of-freedom inverted pendulum commercial product. The pendulum is mounted on a five-bar mechanism that is actuated by two rotary servo base units. Unlike conventional assumption that the two motors are allowed to rotate simultaneously, we assume a more challenging scenario that at one time only one motor is working. The system is hence modeled as a switched system as two motors have to be switched in order to balance the pendulum at its unstable equilibrium. Switched controllers, together with a switching strategy are developed to ensure the stability of the system and satisfy a disturbance attenuation performance index. Simulation results are presented to show the effectiveness of the proposed method.

An Economic Analysis of AIDS — Towards a Proposed Model of Costing: A Singapore Experience

1994 ◽  
Vol 7 (3) ◽  
pp. 143-150 ◽  
Author(s):  
JY Lim ◽  
BW Chew ◽  
KH Phua
Keyword(s):  
Economic Analysis ◽  
Hiv Infection ◽  
Control Strategies ◽  
Control Program ◽  
Future Research ◽  
Policy Makers ◽  
Economic Implications ◽  
Proposed Model ◽  
Cost Center ◽  
And Control

With the increasing prevalence of HIV infection/AIDS and the extending range of care and treatment, the economic implications of the various prevention and control strategies, and of treatment, have become the subject of interest to policy-makers, public health specialists and health economists. This paper presents an overview of the methods used for the economic analysis of AIDS/HIV infection. It proposes an activity-oriented, cost center-based model for the costing of the economic impact of AIDS, using cost figures in Singapore since 1985, when the National AIDS Control Program was started. Priorities for future research are also identified. Asia Pac J Public Health1994;7(3):143-50.

Conceptual Multidisciplinary Parameterized Design and Simulation of Three Axis Servo System

2013 ◽  
Vol 437 ◽  
pp. 722-727
Author(s):  
Zhong Yue Lu ◽  
Zhi Xiong Zhang ◽  
Xue Hui Shao ◽  
Li Xu
Keyword(s):  
Control System ◽  
Design Method ◽  
Systems Design ◽  
Servo System ◽  
Servo Control ◽  
Servo Systems ◽  
Parameterized Design ◽  
Proposed Model ◽  
Servo Mechanism ◽  
And Control

To improve the efficiency of design and simulation of a three axis servo system, puts forward the concept of a multidisciplinary parameterization design method. Based on dynamics analysis software ADAMS to build a three axis servo mechanism of the virtual prototype; Based on MATLAB/SIMULINK modeling servo control system; Based on GUI simulation compile the parameters input interface; Through simulation circuit and application example of the proposed model, application of multidisciplinary parameterized simulation to guide the design of mechanical and control system was introduced in detail ;Verified the method can obviously improve the efficiency of a three axis servo systems design and simulation.

Biomechatronic design and control of an anthropomorphic artificial hand for prosthetic applications

Robotica ◽  
2015 ◽  
Vol 34 (10) ◽  
pp. 2291-2308 ◽  
Author(s):  
Ting Zhang ◽  
Xin Qing Wang ◽  
Li Jiang ◽  
Xinyu Wu ◽  
Wei Feng ◽  
...  
Keyword(s):  
Low Cost ◽  
Feedback System ◽  
Human Hand ◽  
Prosthetic Hand ◽  
Natural Motion ◽  
Flexion Extension ◽  
Artificial Hand ◽  
Human Finger ◽  
Electrical Stimulator ◽  
And Control

SUMMARYIn this paper, we propose a biomechatronic design of an anthropomorphic artificial hand that is able to mimic the natural motion of human fingers. The prosthetic hand has 5 fingers and 15 joints, which are actuated by 5 embedded motors. Each finger has three phalanges that can fulfill flexion-extension movements independently. The thumb is specially designed to move along a cone surface when grasping, and the other four fingers are well developed based on the four-bar link mechanism to imitate the motion of the human finger. To accomplish the sophisticated control schemes, the fingers are equipped with numerous torque and position sensors. The mechanical parts, sensors, and motion control systems are integrated in the hand structure, and the motion of the hand can be controlled through electromyography (EMG) signals in real-time. A new concept for the sensory feedback system based on an electrical stimulator is also taken into account. The low-cost prosthetic hand is small in size (85% of the human hand), of low weight (420 g) and has a large grasp power (10 N on the fingertips), hence it has a dexterous and humanlike appearance. The performance of the prosthetic hand is validated in a clinical evaluation on transradial amputees.

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