Abstract: The robot manipulator is an equipment that stands out for two reasons: Firstly because of its characteristics of movement and reprogramming, resembling the arm; secondly, by adding several areas of knowledge of science and engineering. The present work shows the development of the prototype of a robotic manipulator driven by a Programmable Logic Controller (PLC), having two degrees of freedom, which allows the movement and displacement of mechanical parts, tools, and objects in general of small size, through an electronic system. The aim is to study direct and inverse kinematics of the robotic manipulator to describe the translation and rotation between two adjacent links of the robot through the Denavit-Hartenberg parameters. Currently, due to the many resources that microcomputer systems offer us, robotics is going through a period of continuous growth that will allow, in a short time, the development of intelligent robots with the capacity to perform operations that require flexibility, speed and precision.
Abstract: A robotic arm and hand controlled by simulated
neurons is presented. The robot makes use of a biological neuron
simulator using a point neural model. The neurons and synapses are
organised to create a finite state automaton including neural inputs
from sensors, and outputs to effectors. The robot performs a simple
pick-and-place task. This work is a proof of concept study for a
longer term approach. It is hoped that further work will lead to
more effective and flexible robots. As another benefit, it is hoped that
further work will also lead to a better understanding of human and
other animal neural processing, particularly for physical motion. This
is a multidisciplinary approach combining cognitive neuroscience,
robotics, and psychology.
Abstract: This paper is the development of a concept of the man/robot interaction. More accurately in developing of an autistic child that have more troubles with interaction, here offers an efficient solution, even though simple; however, less studied for this public. This concept is based on code applied thought out the Lego NXT kit, built for the interpretation of the robot, thereby can create this interaction in a constructive way for children suffering with Autism.
Abstract: Robots are now playing a very promising role in industries. Robots are commonly used in applications in repeated operations or where operation by human is either risky or not feasible. In most of the industrial applications, robotic arm manipulators are widely used. Robotic arm manipulator with two link or three link structures is commonly used due to their low degrees-of-freedom (DOF) movement. As the DOF of robotic arm increased, complexity increases. Instrumentation involved with robotics plays very important role in order to interact with outer environment. In this work, optimal control for movement of various DOFs of robotic arm using various soft computing techniques has been presented. We have discussed about different robotic structures having various DOF robotics arm movement. Further stress is on kinematics of the arm structures i.e. forward kinematics and inverse kinematics. Trajectory planning of robotic arms using soft computing techniques is demonstrating the flexibility of this technique. The performance is optimized for all possible input values and results in optimized movement as resultant output. In conclusion, soft computing has been playing very important role for achieving optimized movement of robotic arm. It also requires very limited knowledge of the system to implement soft computing techniques.
Abstract: The objective of the present study was to develop a scale called PYTHEIA. The PYTHEIA is a self-reported measure for the assessment of rehabilitation and assistive robotics and other assistive technology devices. The development of PYTHEIA faced the absence of a valid instrument that can be used to evaluate the assistive robotic devices both as a whole, as well as any of their individual components or functionalities implemented. According to the results presented, PYTHEIA is a valid and reliable scale able to be applied to different target groups for the subjective evaluation of various assistive technology devices.
Abstract: Underactuated biped robots control is one of the interesting topics in robotics. The main difficulties are its highly nonlinear dynamics, open-loop instability, and discrete event at the end of the gait. One of the methods to control underactuated systems is the partial feedback linearization, but it is not robust against uncertainties and disturbances that restrict its performance to control biped walking and running. In this paper, fuzzy partial feedback linearization is presented to overcome its drawback. Numerical simulations verify the effectiveness of the proposed method to generate stable and robust biped walking and running gaits.
Abstract: The paper describes conceptual design, control strategies, and partial simulation for a new fully autonomous lower limb wearable exoskeleton system for human motion enhancement that can support its weight and increase strength and endurance. Various problems still remain to be solved where the most important is the creation of a power and cost efficient system that will allow an exoskeleton to operate for extended period without batteries being frequently recharged. The designed exoskeleton is enabling to decouple the weight/mass carrying function of the system from the forward motion function which reduces the power and size of propulsion motors and thus the overall weight, cost of the system. The decoupling takes place by blocking the motion at knee joint by placing passive air cylinder across the joint. The cylinder is actuated when the knee angle has reached the minimum allowed value to bend. The value of the minimum bending angle depends on usual walk style of the subject. The mechanism of the exoskeleton features a seat to rest the subject’s body weight at the moment of blocking the knee joint motion. The mechanical structure of each leg has six degrees of freedom: four at the hip, one at the knee, and one at the ankle. Exoskeleton legs are attached to subject legs by using flexible cuffs. The operation of all actuators depends on the amount of pressure felt by the feet pressure sensors and knee angle sensor. The sensor readings depend on actual posture of the subject and can be classified in three distinct cases: subject stands on one leg, subject stands still on both legs and subject stands on both legs but transit its weight from one leg to other. This exoskeleton is power efficient because electrical motors are smaller in size and did not participate in supporting the weight like in all other existing exoskeleton designs.
Abstract: Stiffness sensing is an important issue in medical diagnostic, robotics surgery, safe handling, and safe grasping of objects in production lines. Detecting and obtaining the characteristics in dwelling lumps embedded in a soft tissue and safe removing and handling of detected lumps is needed in surgery. Also in industry, grasping and handling an object without damaging in a place where it is not possible to access a human operator is very important. In this paper, a method for object handling is presented. It is based on the use of an intelligent gripper to detect the object stiffness and then setting a programmable force for grasping the object to move it. The main components of this system includes sensors (sensors for measuring force and displacement), electrical (electrical and electronic circuits, tactile data processing and force control system), mechanical (gripper mechanism and driving system for the gripper) and the display unit. The system uses a rotary potentiometer for measuring gripper displacement. A microcontroller using the feedback received by the load cell, mounted on the finger of the gripper, calculates the amount of stiffness, and then commands the gripper motor to apply a certain force on the object. Results of Experiments on some samples with different stiffness show that the gripper works successfully. The gripper can be used in haptic interfaces or robotic systems used for object handling.
Abstract: For those who have lost the ability to move their hand, going through repetitious motions with the assistance of a therapist is the main method of recovery. We have been developed a robotic assistive device to rehabilitate the hand motions in place of the traditional therapy. The developed assistive device (RAD-HR) is comprised of four degrees of freedom enabling basic movements, hand function, and assists in supporting the hand during rehabilitation. We used a nonlinear computed torque control technique to control the RAD-HR. The accuracy of the controller was evaluated in simulations (MATLAB/Simulink environment). To see the robustness of the controller external disturbance as modelling uncertainty (±10% of joint torques) were added in each joints.
Abstract: When industrial robotics subject is taught in a degree in robotics, social and humanoid robotics concepts are rarely mentioned because this field of robotics is not used in industry. In this paper, an educational project related with industrial robotics is presented which includes social and humanoid robotics. The main motivations to realize this research are: i) humanoid robotics will be appearing soon in industry, the experience, based on research projects, indicates their deployment sooner than expected; ii) its educational interest, technology is shared with industrial robotics; iii) it is very attractive, students are interested in this part of the subject and thus they are interested in the whole subject. As a pedagogical methodology, the use of the problem-based learning is considered. Those concepts are introduced in a seminar during the last part of the subject and developed as a set of practices in the laboratory.
Abstract: Object manipulation techniques in robotics can be
categorized in two major groups including manipulation with grasp
and manipulation without grasp. The original aim of this paper is to
develop an object manipulation method where in addition to being
grasp-less, the manipulation task is done in a passive approach. In
this method, linear and angular positions of the object are changed
and its manipulation path is controlled. The manipulation path is a
helix track with constant radius and incline. The method presented in
this paper proposes a system which has not the actuator and the active
controller. So this system requires a passive mechanical intelligence
to convey the object from the status of the source along the specified
path to the goal state. This intelligent is created based on utilizing the
geometry of the system components. A general set up for the
components of the system is considered to satisfy the required
conditions. Then after kinematical analysis, detailed dimensions and
geometry of the mechanism is obtained. The kinematical results are
verified by simulation in ADAMS.
Abstract: Finding the optimal 3D path of an aerial vehicle under
flight mechanics constraints is a major challenge, especially when
the algorithm has to produce real time results in flight. Kinematics
models and Pythagorian Hodograph curves have been widely used
in mobile robotics to solve this problematic. The level of difficulty
is mainly driven by the number of constraints to be saturated at the
same time while minimizing the total length of the path. In this paper,
we suggest a pragmatic algorithm capable of saturating at the same
time most of dimensioning helicopter 3D trajectories’ constraints
like: curvature, curvature derivative, torsion, torsion derivative, climb
angle, climb angle derivative, positions. The trajectories generation
algorithm is able to generate versatile complex 3D motion primitives
feasible by a helicopter with parameterization of the curvature and the
climb angle. An upper ”motion primitives’ concatenation” algorithm
is presented based. In this article we introduce a new way of designing
three-dimensional trajectories based on what we call the ”Dubins
gliding symmetry conjecture”. This extremely performing algorithm
will be soon integrated to a real-time decisional system dealing with
inflight safety issues.
Abstract: The work aims to develop a robot in the form of
autonomous vehicle to detect, inspection and mapping of
underground pipelines through the ATmega328 Arduino platform.
Hardware prototyping is very similar to C / C ++ language that
facilitates its use in robotics open source, resembles PLC used in
large industrial processes. The robot will traverse the surface
independently of direct human action, in order to automate the
process of detecting buried pipes, guided by electromagnetic
induction. The induction comes from coils that send the signal to the
Arduino microcontroller contained in that will make the difference in
intensity and the treatment of the information, and then this
determines actions to electrical components such as relays and
motors, allowing the prototype to move on the surface and getting the
necessary information. This change of direction is performed by a
stepper motor with a servo motor. The robot was developed by
electrical and electronic assemblies that allowed test your application.
The assembly is made up of metal detector coils, circuit boards and
microprocessor, which interconnected circuits previously developed
can determine, process control and mechanical actions for a robot
(autonomous car) that will make the detection and mapping of buried
pipelines plates. This type of prototype can prevent and identifies
possible landslides and they can prevent the buried pipelines suffer an
external pressure on the walls with the possibility of oil leakage and
thus pollute the environment.
Abstract: Image segmentation and color identification is an
important process used in various emerging fields like intelligent
robotics. A method is proposed for the manipulator to grasp and place
the color object into correct location. The existing methods such as
PSO, has problems like accelerating the convergence speed and
converging to a local minimum leading to sub optimal performance.
To improve the performance, we are using watershed algorithm and
for color identification, we are using EPSO. EPSO method is used to
reduce the probability of being stuck in the local minimum. The
proposed method offers the particles a more powerful global
exploration capability. EPSO methods can determine the particles
stuck in the local minimum and can also enhance learning speed as
the particle movement will be faster.
Abstract: Robotics brings together several very different
engineering areas and skills. There are various types of robot such as
humanoid robot, mobile robots, remotely operated vehicles, modern
autonomous robots etc. This survey paper advocates the operation of a
robotic car (remotely operated vehicle) that is controlled by a mobile
phone (communicate on a large scale over a large distance even from
different cities). The person makes a call to the mobile phone placed
in the car. In the case of a call, if any one of the button is pressed, a
tone equivalent to the button pressed is heard at the other end of the
call. This tone is known as DTMF (Dual Tone Multiple Frequency).
The car recognizes this DTMF tone with the help of the phone stacked
in the car. The received tone is processed by the Arduino
microcontroller. The microcontroller is programmed to acquire a
decision for any given input and outputs its decision to motor drivers
in order to drive the motors in the forward direction or backward
direction or left or right direction. The mobile phone that makes a call
to cell phone stacked in the car act as a remote.
Abstract: It is likely that robots will cross the boundaries of
industry into households over the next decades. With demographic
challenges worldwide, the future ageing populations will require the
introduction of assistive technologies capable of providing, care,
human dignity and quality of life through the aging process. Robotics
technology has a high potential for being used in the areas of social
and healthcare by promoting a wide range of activities such as
entertainment, companionship, supervision or cognitive and physical
assistance. However such close Human Robotics Interaction (HRI)
encompass a rich set of ethical scenarios that need to be addressed
before Socially Assistive Robots (SARs) reach the global markets.
Such interactions with robots may seem a worthy goal for many
technical/financial reasons but inevitably require close attention to
the ethical dimensions of such interactions. This article investigates
the current HRI benchmark of social success. It revises it according
to the ethical principles of beneficence, non-maleficence and justice
aligned with social care ethos. An extension of such benchmark is
proposed based on an empirical study of HRIs conducted with elderly
groups.
Abstract: The paper focus on robotic telepresence system build
around humanoid robot operated with controller-less Wizard of Oz
technique. Proposed solution gives possibility to quick start acting as
a operator with short, if any, initial training.
Abstract: Robotics provides answers to amputees. The most
expensive solutions surgically connect the prosthesis to nerve endings.
There are also several types of non-invasive technologies that recover
nerve messages passing through the muscles. After analyzing these
messages, myoelectric prostheses perform the desired movement.
The main goal is to avoid all surgeries, which can be heavy and offer
cheaper alternatives. For an amputee, we use valid muscles to recover
the electrical signal involved in a muscle movement. EMG sensors
placed on the muscle allows us to measure a potential difference,
which our program transforms into control for a robotic arm with two
degrees of freedom. We have shown the feasibility of non-invasive
prostheses with two degrees of freedom. Signal analysis and an
increase in degrees of freedom is still being improved.
Abstract: A method which allows a diabetic quadriplegic patient
that has had four limb amputations (above the knee and elbow) to
self-administer injections of insulin has been designed. The aim of
this research project is to improve a quadriplegic patient’s selfmanagement,
affected by diabetes, by designing a suitable device for
self-administering insulin.
The quadriplegic patient affected by diabetes has to be able to selfadminister
insulin safely and independently to guarantee stable
healthy conditions. The device also should be designed to adapt to a
number of different varying personal characteristics such as height
and body weight.
Abstract: Assistive robotics are playing a vital role in advancing the quality of life for disable people. There exist wide range of systems that can control and guide autonomous mobile robots. The objective of the control system is to guide an autonomous mobile robot using the movement of eyes by means of EOG signal. The EOG signal is acquired using Ag/AgCl electrodes and this signal is processed by a microcontroller unit to calculate the eye gaze direction. Then according to the guidance control strategy, the control commands of the wheelchair are sent. The classification of different eye movements allows us to generate simple code for controlling the wheelchair. This work was aimed towards developing a usable and low-cost assistive robotic wheel chair system for disabled people. To live more independent life, the system can be used by the handicapped people especially those with only eye-motor coordination.