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High-Speed Humanoid Robot Arm for Badminton Using Pneumatic-Electric Hybrid Actuators

Shotaro Mori, Kazutoshi Tanaka, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi
2019 IEEE Robotics and Automation Letters  
Subsequently, we developed a robot with seven DoFs, three DoFs for the shoulder, two for the elbow, and two for the wrist, similar to the configuration of human arms.  ...  By incorporating actuators as link structures, the overall weight was reduced, and both complex degrees of freedom (DoFs) and a large range of motion were realized.  ...  This creates a lightweight robot arm with DoFs and range of motion similar to humans.  ... 
doi:10.1109/lra.2019.2928778 fatcat:7teqxeal6vgtxmaj47n3m2xd7u

Development of A Meal Assistive Exoskeleton made of Soft Materials for polymyositis patients

Inwook Koo, Changho Yun, Mateus V. O. Costa, Joao V. F. Scognamiglio, Teodoro A. Yangali, Daegeun Park, Kyu-Jin Cho
2014 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Also, the exoskeleton is designed with soft materials such as fabric, rubber, wire and other compliant materials.  ...  Also a special controller is designed to utilize the available motion of the polymyositis patients. Some experiments are conducted to evaluate the performance of the exoskeleton.  ...  Since there are four DOF in a human upper limb (wrist is not considered because the target users can move their wrist) it is an under-actuated design.  ... 
doi:10.1109/iros.2014.6942612 dblp:conf/iros/KooYCSYPC14 fatcat:cm4dqitulva7zppaqfp7bopzwm

Design and Experiments of a 11000m 7-Function Electric Manipulator System

Yunlong Fan, Qifeng Zhang, Hailong Wang, Yunfei Bai, Yunxiu Zhang, Shengguo Cui
2018 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)  
For operational requirements of the 11000m underwater vehicle which is small and medium-sized or is restricted by energy, a medium-load 7-function electric manipulator is developed.  ...  The manipulator has a larger load capacity than that directly driven by the joint and can operate in 11000m deep-sea. The design and experiments of the manipulator are described in detail.  ...  The slave arm is driven by electric power which includes 6 DOFs and a clamp function.  ... 
doi:10.1109/oceanskobe.2018.8559478 fatcat:n6iybpxxr5ej7onzzyh2u2zt54

Robotic Forceps with a Flexible Wrist Joint Made of Super Engineering Plastic

Dongbo Zhou, Kiyoshi Sanada, Daisuke Haraguchi
2020 Sensors and materials  
A prototype flexible wrist part is designed using polyetheretherketone (PEEK) with 12 machined slits, and the bending and grasping motions of the forceps are realized by wire actuation.  ...  A pair of miniaturized robotic forceps with a flexible wrist joint has a problem of a trade-off relationship between rigid and flexible characteristics of the joint with metal parts.  ...  The bending motion of the wrist is driven by four stainless steel wires (7 × 7-stranded wire, diameter: 0.36 mm).  ... 
doi:10.18494/sam.2020.2655 fatcat:aig7dsok65fxpgl62lmyxec3iy

Design of the structural optimization for the upper limb rehabilitation robot

Shuxiang Guo, Jiange Gao, Jian Guo, Weijie Zhang, Yuye Hu
2016 2016 IEEE International Conference on Mechatronics and Automation  
In the future, this structure will have a wide application prospect in the rehabilitation therapy field.  ...  The exoskeleton robotic rehabilitation training system is a branch of the field of robotics, it is the external mechanical system that is consistent with the similar joints of the human body, and attached  ...  Bowl's Structure Original robot wrist transmission system is driven by a wire rope, the driving system of wrist stretch flexion and extension mainly consists of a driving motor, wire rope and with the  ... 
doi:10.1109/icma.2016.7558730 fatcat:uyjgzqf6hzd6fn24mscpmwck44

Torque-Controlled Lightweight Arms and Articulated Hands: Do We Reach Technological Limits Now?

G. Hirzinger, N. Sporer, M. Schedl, J. Butterfaß, M. Grebenstein
2004 The international journal of robotics research  
We then discuss the key technologies needed for the development of an artificial "robonaut" generation with mechatronic ultra-lightweight arms and multifingered hands.  ...  The third arm generation is nearly finished now, approaching the limits of what is technologically achievable today with respect to light weight and power losses.  ...  Acknowledgment We would like to thank Bavaria's Ministry of Technology which has made mechatronics a key topic of Bavaria's high tech offensive with lightweight robotics and articulated hands as central  ... 
doi:10.1177/0278364904042201 fatcat:klsrj6pbufao5malcuo5ddrrh4

Upper-Limb Powered Exoskeleton Design

Joel C. Perry, Jacob Rosen, Stephen Burns
2007 IEEE/ASME transactions on mechatronics  
A pilot database defining the kinematics and dynamics of the upper limb during daily living activities was one among several factors guiding the development of an anthropomorphic, 7-DOF, powered arm exoskeleton  ...  Additional design inputs include anatomical and physiological considerations, workspace analyses, and upper limb joint ranges of motion.  ...  The nearest design, the 7-DOF version of the PERCRO arm [8] , utilizes two nonanthropomorphic joints to represent motion of the wrist and fingertips, and uses a closed mechanical human-machine interface  ... 
doi:10.1109/tmech.2007.901934 fatcat:tmzffns4mnagjney3ssnkjwkeq

Design and Control of the McKibben Artificial Muscles Actuated Humanoid Manipulator [chapter]

Daoxiong Gong, Jianjun Yu
2022 Biomedical engineering  
result, the DOFs of the analog shoulder, elbow, and wrist of the robotic arm intersect at a point respectively and the motion of these DOFs is independent from each other for convenience of human-like  ...  Focusing on the bionic design issue, this chapter in detail presents the design of a 7-degree-of-freedom (DOF) human-arm-like manipulator.  ...  Ikemoto et al. designed a musculoskeletal robot arm driven by PAMs to mimic the structure of the human shoulder complex and try to assure a wide range of movements and the joint's stability at the same  ... 
doi:10.5772/intechopen.101761 fatcat:sxw7n7f7und2pmszztumttlr2a

A Review on Design of Upper Limb Exoskeletons

Muhammad Ahsan Gull, Shaoping Bai, Thomas Bak
2020 Robotics  
In addition, a brief overview of the control modalities for upper-limb exoskeletons is also presented in this paper. A discussion on the future directions of research is included.  ...  Exoskeleton robotics has ushered in a new era of modern neuromuscular rehabilitation engineering and assistive technology research.  ...  Workspace Limitation Wearable exoskeletons are not able to provide a wide range of motion in comparison to the human upper-limb torso [7] .  ... 
doi:10.3390/robotics9010016 fatcat:5iiax7tq6rgszcnaqsadfssszm

An embedded computer controlled four fingered robot hand

M. Venkateswara Rao, P. S. Ramaiah, G. V. Satya Narayana
2013 ACM SIGBED Review  
When people interact with intelligent agents, they likely rely upon a wide range of existing knowledge about machines, minds, and intelligence.  ...  The hand can pick a variety of objects with different surface characteristics and shapes without having to reconstruct its surface description.  ...  DLR hand II [14] , is a four fingered hand with 16 DOF is driven with 13 DC motors with under-actuation provided by a four-bar linkage of two distal joints.  ... 
doi:10.1145/2492385.2492386 fatcat:juv7mxj7dfefvaougjadbfgih4

A Compact Modular Teleoperated Robotic System for Laparoscopic Surgery

Peter Berkelman, Ji Ma
2009 The international journal of robotics research  
Robotic surgical systems, teleoperated by surgeons from a master control console with joystick-type manipulation interfaces, have been commercially developed yet their adoption into standard practice may  ...  Compared with traditional open surgery, minimally invasive surgical procedures reduce patient trauma and recovery time, but the dexterity of the surgeon in laparoscopic surgery is reduced owing to the  ...  or cut in a wide range of directions rather than remaining aligned with the instrument shaft.  ... 
doi:10.1177/0278364909104276 pmid:21743765 pmcid:PMC3130619 fatcat:s2az7i574fh23kcdiiuhxqnvhe

Bioinspired Musculoskeletal Model-based Soft Wrist Exoskeleton for Stroke Rehabilitation

Ning Li, Tie Yang, Yang Yang, Peng Yu, Xiujuan Xue, Xingang Zhao, Guoli Song, Imad H. Elhajj, Wenxue Wang, Ning Xi, Lianqing Liu
2020 Journal of Bionic Engineering  
Then, according to the above human-like musculoskeletal model, the humanoid distributed kinematics control was established to achieve the two DOFs coupling kinematics of the wrist.  ...  In this paper, the simplified muscle model and muscle-liked kinematics model were proposed, based on which a soft wrist exoskeleton was established to realize natural human interaction.  ...  The motion range of wrist joint is able to cover the daily living motion range of human wrist (wrist flexion/extension: 115˚; and wrist adduction/abduction: 70˚) [37] .  ... 
doi:10.1007/s42235-020-0101-9 fatcat:s43f7wzgrjcbnbyrrshckcpiga

Soft Exoskeletons: Development, Requirements, and Challenges of the Last Decade

Alan Francisco Pérez Vidal, Jesse Yoe Rumbo Morales, Gerardo Ortiz Torres, Felipe de Jesús Sorcia Vázquez, Alan Cruz Rojas, Jorge Aurelio Brizuela Mendoza, Julio César Rodríguez Cerda
2021 Actuators  
The present work is oriented to the studies of the last decade and covers the upper and lower joints, specifically the shoulder, elbow, wrist, hand, hip, knee, and ankle.  ...  Hip exoskeletons can help a wide range of people.  ...  [68] developed a lightweight and smooth cable-driven exoskeleton. The device has six DOF, one for each finger and one for the elbow.  ... 
doi:10.3390/act10070166 fatcat:aamogbqplzfdxckc3hedojk7r4

Design and Implementation of Low-Cost, 3-D Printed, Humanoid Robotic Arm

Antony John E
2019 International Journal for Research in Applied Science and Engineering Technology  
In today's world, with the development of advanced actuators and other precise dynamic motors, the field of robotics has seen a major boom in its growth, with applications ranging from in the International  ...  The result is a dexterous humanoid hand capable of mimicking common human-like gestures with speed, and accuracy.  ...  Each arm has 14 degrees of freedom in total, and consists of a forearm, a 2-DOF wrist, and a 12-DOF hand with five fingers.  ... 
doi:10.22214/ijraset.2019.11023 fatcat:iyyjywf2v5aina3wloap4hj6ei

Two-Fingered Haptic Device for Robot Hand Teleoperation

Futoshi Kobayashi, George Ikai, Wataru Fukui, Fumio Kojima
2011 Journal of Robotics  
The device uses a shape memory alloy as an actuator, which affords a very compact, lightweight, and accurate device.  ...  A haptic feedback system is required to assist telerehabilitation with robot hand. The system should provide the reaction force measured in the robot hand to an operator.  ...  When a human opens a door or picks up an object, the hand and the arm 2 Journal of Robotics move simultaneously allowing for a wide working space and range of motion.  ... 
doi:10.1155/2011/419465 fatcat:gwhrfnu6cnhr7bjvutj7dfq27u
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