2022 December - 39 articles
Modern electrical grippers have lower life-cycle costs compared to pneumatic ones. Furthermore, they provide force control, making it possible to grasp objects with different fragility using a single device. At the same time, electrical grippers have...
Cable robots are widely used in the field of rehabilitation. These robots differ from other cable robots because the cables are rather short and are usually equipped with magnetic hooks to improve the ease of use. The vibrations of rehabilitation rob...
Inspired by the reflective and deliberative control mechanisms used in cognitive architectures such as SOAR and Sigma, we propose an alternative decision mechanism driven by architectural appraisals allowing robots to overcome impasses. The presented...
In classical Cartesian space position control, KD, the end-effector follows the set-point trajectory with a stiffness expressed in the directions of the external coordinates through the stiffness matrix, K, and with a damping proportional to the firs...
Assessing the performance of exoskeletons in assisting human balance is important for their design process. This study proposes a novel testbed, the B.E.A.T (Balance Evaluation Automated Testbed) to address this aim. We applied the B.E.A.T to evaluat...
In the fields of control engineering and robotics, either the Lagrange or Newton–Euler method is generally used to analyze and design systems using equations of motion. Although the Lagrange method can obtain analytical solutions, it is difficu...
Many robotics systems carrying certain payloads are employed in manufacturing industries for pick and place tasks. The system experiences inefficiency if more or less weight is introduced. If a different payload is introduced (either due to a change...
In this work, we consider the autonomous object transportation problem employing a team of mobile manipulators within a compact planar workspace with obstacles. As the object is allowed to translate and rotate and each robot is equipped with a manipu...
There is a growing application of passive exoskeletons in the industrial sector with the purpose to reduce the incidence of work-related musculoskeletal disorders (MSDs). Nowadays, while many passive shoulder exoskeletons have been developed to suppo...
Soft robotic and medical devices will greatly benefit from stretchable and compliant pressure sensors that can detect deformation and contact forces for control and task safety. In addition to traditional 2D buckling via planar substrates, 3D bucklin...
In the field of precision agriculture, the automation of sampling and harvesting operations plays a central role to expand the possible application scenarios. Within this context, this work presents the design and prototyping of a novel underactuated...
The decline of natural pollinators necessitates the development of novel pollination technologies. In this work, we propose a drone-enabled autonomous pollination system (APS) that consists of five primary modules: environment sensing, flower percept...
Small living organisms such as lizards possess naturally built functional surface textures that enable them to walk or climb on versatile surface topographies. Bio-mimicking the surface characteristics of these geckos has enormous potential to improv...
Visual Place Recognition (VPR) is a fundamental yet challenging task in Visual Simultaneous Localization and Mapping (V-SLAM) problems. The VPR works as a subsystem of the V-SLAM. VPR is the task of retrieving images upon revisiting the same place in...
Early therapeutic intervention programs help children diagnosed with Autism Spectrum Disorder (ASD) to improve their socio-emotional and functional skills. To relieve the children’s caregivers while ensuring that the children are adequately sup...
The application of additive technologies, namely, fused deposition modeling, is a new reality for prototyping gripping devices of industrial robots. However, during 3D printing of holes and nozzle elements, difficulties arise with reducing their diam...
Being an emerging technology, robotic manipulation has encountered tremendous advancements due to technological developments starting from using sensors to artificial intelligence. Over the decades, robotic manipulation has advanced in terms of the v...
Industry 4.0 has promoted the concept of automation, supporting workers with robots while maintaining their central role in the factory. To guarantee the safety of operators and improve the effectiveness of the human-robot interaction, it is importan...
Improving the strategies employed to control robotic arms is of great importance because of the increase in their use in advanced supervisory control strategies, such as digital twins. The inverse kinematic (IK) control of manipulators requires an IK...
Object identification, such as tree trunk detection, is fundamental for forest robotics. Intelligent vision systems are of paramount importance in order to improve robotic perception, thus enhancing the autonomy of forest robots. To that purpose, thi...
As one of the minimally invasive surgeries (MIS), transoral robotic surgery (TORS) contributes to excellent oncological and functional outcomes. This paper introduces a compliant and flexible robotic system for transoral surgery, consisting of an exe...
The implementation of Educational Robotics (ER) with special needs students (SNS) has been found to be helpful for knowledge improvement, by keeping students engaged and decreasing the risks of social exclusion. The present study aimed to investigate...
Jackknifing refers to the serious situation where a vehicle-trailer system enters a jackknife state and the vehicle and trailer eventually collide if trailer operation is not corrected. This paper considers low speed trailer maneuvering typical of tr...
In this study, adaptive pincer grasping of soft pneumatic grippers (SPGs) is considered, and we propose how the performance of soft pneumatic actuators (SPAs) and the stiffness of grasped objects can be accounted for in modeling and control. The gras...
Products and assets are becoming increasingly “smart”, e.g., mechatronic, electronic, or cyber-physical. In the lack of fully reliable wireless solutions, extensive wiring and wire bundling into wire harnesses are needed. This has manufac...
Intelligent mobile robots need to deal with different kinds of uncertainties in order to perform their tasks, such as tracking predefined paths and avoiding static and dynamic obstacles until reaching their destination. In this research, a Robotino&r...
Communication is a central component in social human–robot interaction that needs to be planned and designed prior to the actual communicative act. We therefore propose a pragmatic, linear view of communication design for social robots that cor...
A continuum robot is a unique type of robots which move because of the elastic deformation of their bodies. The kinematics of such robots is typically described using constant curvature assumption. Such an assumption, however, does not completely des...
Global demographics trend toward an aging population. Hence, there will be an increased social demand for elderly care. Recently, assistive technologies such as service robots have emerged and can help older adults to live independently. This paper r...
Human–Robot Collaboration (HRC) is an interdisciplinary research area that has gained attention within the smart manufacturing context. To address changes within manufacturing processes, HRC seeks to combine the impressive physical capabilities...
The possibilities and reach of social networks are increasing, designs are becoming more diverse, and ideas more visionary. Most recently, the former company “Facebook” announced the creation of a metaverse. With these technical possibili...
Autonomous air combat of unmanned aerial vehicles (UAVs) is a typical and difficult problem that must be studied in the field of military intelligence. The UAVs are required to work together to accomplish different tasks in the air combat. In this no...
It is difficult to effectively operate a dual-arm robot using only the information written in a cooking recipe. To cope with this problem, this paper proposes a graph-based approach on bimanual cooking motion planning from a cooking recipe. In our ap...
In this paper, the designs and manufacturing process of a powered upper limb orthosis are presented. The orthosis is an exoskeleton worn on one arm by the user and fixed to the trunk. The orthosis’ architecture, design, and manufacturing proces...
During the COVID-19 pandemic, many people felt lonely. Social robots may serve to alleviate such feelings of social disconnection. Prior research pointed out that lonely or socially excluded individuals were particularly willing to interact with soci...
Circular connector four-core wires are created by winding in the cable; however, wires of different colors cannot be distributed fixedly within the cables. The exact positions of the four wires inside the cable cannot be determined because the cables...
As automated construction processes require large workspaces and high payloads, the use of cables is a reasonable approach to span wide distances and share loads. Therefore, a cable-driven parallel robot is a suitable choice for automated masonry con...
This article proposes a mobile robot that is fully constructed and actuated by utilising a pneumatic artificial muscle (PAM). Several features are shown in this design including softness, lightweight, and shape change. The robot that has been designe...
In response to the issue of virus contamination in the cold-chain warehouse or hospital environment under the influence of the COVID-19, we propose the design work of a disinfection robot based on the UVC radiation mechanism using the low-computation...
