Advanced Robots: Design, Control and Application—2nd Edition

A special issue of Actuators (ISSN 2076-0825). This special issue belongs to the section "Actuators for Robotics".

Deadline for manuscript submissions: closed (10 August 2024) | Viewed by 19709

Special Issue Editor


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Guest Editor
Head of Mechanical Engineering, Mechatronics and Robotics Department, "Gheorghe Asachi" Technical University of Iasi, 700050 Iasi, Romania
Interests: robotic applications of shape memory alloys; modeling and simulation; mechanisms and machine theory; robotics; mechanical engineering
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Research into the design, control and application of advanced robots has increased during the last few decades, with many different and interesting projects being developed. Advanced robots have many promising applications in various areas of modern society. These robots could yield significant positive impacts on society, but they also carry the potential to cause negative impacts. Therefore, these impacts should be considered and discussed from the perspectives of not only technical solutions but also relevant social issues that concern safety, law, ethics, psychology and philosophy.

Contributions from all fields related to advanced robots are welcome in this Special Issue, particularly the following:

  • Human–robot interactions (HRI) and social robotics;
  • Safety issues for advanced robots and autonomous systems;
  • Legal and ethical issues for advanced robots;
  • Advanced industrial robots for future manufacturing;
  • Healthcare and medical applications;
  • Service and assistance;
  • Entertainment and education;
  • Robotics and autonomous driving;
  • Artificial intelligence (AI) and robotics;
  • Bio-inspired robotics;
  • Agricultural robots.

Prof. Dr. Ioan Doroftei
Guest Editor

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Published Papers (16 papers)

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Research

18 pages, 13914 KiB  
Article
Development of a Small-Sized Urban Cable Conduit Inspection Robot
by Yiqiang You, Yichen Zheng, Kangle Huang, Yuling He, Zhiqing Huang and Lulin Zhan
Actuators 2024, 13(9), 349; https://doi.org/10.3390/act13090349 - 10 Sep 2024
Viewed by 340
Abstract
Cable conduits are crucial for urban power transmission and distribution systems. However, current conduit robots are often large and susceptible to tilting issues, which hampers the effective and intelligent inspection of these conduits. Therefore, there is an urgent need to develop a smaller-sized [...] Read more.
Cable conduits are crucial for urban power transmission and distribution systems. However, current conduit robots are often large and susceptible to tilting issues, which hampers the effective and intelligent inspection of these conduits. Therefore, there is an urgent need to develop a smaller-sized conduit inspection robot to address these challenges. Based on an in-depth analysis of the characteristics of the cable conduit working environment and the associated functional requirements, this study successfully developed a small-scale urban cable conduit inspection robot prototype. This development was grounded in relevant design theories, simulation analyses, and experimental tests. The test results demonstrate that the robot’s bracing module effectively prevents tilting within the conduit. Additionally, the detection module enables comprehensive 360-degree conduit inspections, and the vacuuming module meets the negative pressure requirements for efficient absorption of dust and foreign matter. The robot has met the expected design goals, effectively enhanced the automation of the cable conduit construction process, and improved the quality control of cable laying. Full article
(This article belongs to the Special Issue Advanced Robots: Design, Control and Application—2nd Edition)
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30 pages, 7382 KiB  
Article
Research on the Methods for Correcting Helicopter Position on Deck Using a Carrier Robot
by Yuhang Zhong, Dingxuan Zhao and Xiaolong Zhao
Actuators 2024, 13(9), 342; https://doi.org/10.3390/act13090342 - 5 Sep 2024
Viewed by 357
Abstract
When the landing position of a shipborne helicopter on the deck does not meet the requirements for towing it into the hangar, its position must first be corrected before towing can proceed. This paper studied the methods for using Shipborne Rapid Carrier Robots [...] Read more.
When the landing position of a shipborne helicopter on the deck does not meet the requirements for towing it into the hangar, its position must first be corrected before towing can proceed. This paper studied the methods for using Shipborne Rapid Carrier Robots (SRCRs) to correct helicopter positions on the deck and proposed two correction methods, the stepwise correction method and the continuous correction method, aiming to improve the efficiency of the position adjustment process. Firstly, the actual helicopter landing position deviation was divided into two components—lateral offset and fuselage yaw angle—to quantitatively assess the deviations. Then, a mathematical model of the SRCR traction system was established, and its traction motion characteristics were analyzed. The kinematic characteristics and control processes of the two proposed position correction methods were subsequently studied, revealing the coordinated control relationships between key control elements. Finally, simulations were conducted to validate the feasibility of the proposed correction methods and compare their efficiencies. The results indicated that both the stepwise and continuous correction methods effectively achieved the position correction objectives. The stepwise method was more efficient when the initial yaw angle was small, while the continuous method proved more efficient when the initial yaw angle was large and the lateral offset was minimal. The results of this study may provide a valuable reference for correcting the positions of helicopters on deck. Full article
(This article belongs to the Special Issue Advanced Robots: Design, Control and Application—2nd Edition)
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12 pages, 5514 KiB  
Article
Analysis and Simulation of Permanent Magnet Adsorption Performance of Wall-Climbing Robot
by Haifeng Ji, Peixing Li and Zhaoqiang Wang
Actuators 2024, 13(9), 337; https://doi.org/10.3390/act13090337 - 3 Sep 2024
Viewed by 411
Abstract
In response to problems such as insufficient adhesion, difficulty in adjustment, and weak obstacle-crossing capabilities in traditional robots, an innovative design has been developed for a five-wheeled climbing robot equipped with a pendulum-style magnetic control adsorption module. This design effectively reduces the weight [...] Read more.
In response to problems such as insufficient adhesion, difficulty in adjustment, and weak obstacle-crossing capabilities in traditional robots, an innovative design has been developed for a five-wheeled climbing robot equipped with a pendulum-style magnetic control adsorption module. This design effectively reduces the weight of the robot, and sensors on the magnetic adsorption module enable real-time monitoring of magnetic force. Intelligent control adjusts the pendulum angle to modify the magnetic force according to different wall conditions. The magnetic adsorption module, using a Halbach array, enhances the concentration effect of the magnetic field, ensuring excellent performance in high-load tasks such as building maintenance, bridge inspection, and ship cleaning. The five-wheel structural design enhances the stability and obstacle-crossing capability, making it suitable for all-terrain environments. Simulation experiments using Maxwell analyzed the effects of the magnetic gap and the angle between the adsorption module and the wall, and mechanical performance analysis confirmed the robot’s ability to adhere safely and operate stably. Full article
(This article belongs to the Special Issue Advanced Robots: Design, Control and Application—2nd Edition)
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18 pages, 22431 KiB  
Article
Designing a Robotic Gripper Based on the Actuating Capacity of NiTi-Based Shape Memory Wires
by Adrian Petru Teodoriu, Bogdan Pricop, Nicoleta-Monica Lohan, Mihai Popa, Radu Ioachim Comăneci, Ioan Doroftei and Leandru-Gheorghe Bujoreanu
Actuators 2024, 13(8), 319; https://doi.org/10.3390/act13080319 - 21 Aug 2024
Viewed by 506
Abstract
In the present study, the capacity of two commercial NiTi and NiTiCu shape memory alloy (SMA) wires to develop work-generating (WG) and constrained-recovery (CR) shape memory effects (SMEs), as well as the capacity of a commercial NiTiFe super-elastic wire to act as cold-shape [...] Read more.
In the present study, the capacity of two commercial NiTi and NiTiCu shape memory alloy (SMA) wires to develop work-generating (WG) and constrained-recovery (CR) shape memory effects (SMEs), as well as the capacity of a commercial NiTiFe super-elastic wire to act as cold-shape restoring element, have been investigated. Using differential scanning calorimetry (DSC), the reversible martensitic transformation to austenite of the three NiTi-based wires under study was emphasized by means of an endothermic minimum of the heat flow variation with temperature. NiTi and NiTiCu wire fragments were further tested for both WG-SME and CR-SME developed during the heating, from room temperature (RT) to different maximum temperatures selected from the DSC thermograms. The former tests revealed the capacity to repetitively lift various loads during repetitive heating, while the latter tests disclosed the repetitive development of shrinkage stresses during the repetitive heating of elongated wires. The tensile behavior of the three NiTi-based SMA wires was analyzed by failure and loading–unloading tests. The study disclosed the actuation capacity of NiTi and NiTiCu shape memory wires, which were able to develop work while being heated, as well as the resetting capacity of NiTiFe super-elastic wires, which can restore the initial undeformed shape of shape memory wires which soften while being cooled down. These features enable the design of a robotic gripper based on the development of NiTi-based actuators with repetitive action. Full article
(This article belongs to the Special Issue Advanced Robots: Design, Control and Application—2nd Edition)
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27 pages, 13269 KiB  
Article
The Design and Application of a Vectored Thruster for a Negative Lift-Shaped AUV
by Hong Zhu, Lunyang Lin, Chunliang Yu, Yuxiang Chen, Hong Xiong, Yiyang Xing and Guodong Zheng
Actuators 2024, 13(6), 228; https://doi.org/10.3390/act13060228 - 19 Jun 2024
Viewed by 697
Abstract
Autonomous underwater vehicles (AUVs), as primary platforms, have significantly contributed to underwater surveys in scientific and military fields. Enhancing the maneuverability of autonomous underwater vehicles is crucial to their development. This study presents a novel vectored thruster and an optimized blade design approach [...] Read more.
Autonomous underwater vehicles (AUVs), as primary platforms, have significantly contributed to underwater surveys in scientific and military fields. Enhancing the maneuverability of autonomous underwater vehicles is crucial to their development. This study presents a novel vectored thruster and an optimized blade design approach to meet the design requirements of a specially shaped AUV. Determining the ideal blade characteristics involves selecting a maximum diameter of 0.18 m and configuring the number of blades to be four. Furthermore, the blades of the AUV were set to rotate at a speed of 1400 revolutions per minute (RPM). The kinematics of the thrust-vectoring mechanism was theoretically analyzed. A propulsive force test of the vectored thruster with ductless and ducted propellers was performed to evaluate its performance. A ductless propeller without an annular wing had a higher propulsive efficiency with a maximum thrust of 115 N. Open-loop control was applied to an AUV in a water tank, exhibiting a maximum velocity of 0.98 m/s and a pitch angle of 53°. The maximum rate of heading angle was 14.26°/s. The test results demonstrate that the specially designed thrust-vectoring mechanism notably enhances the effectiveness of AUVs at low forward speeds. In addition, tests conducted in offshore waters for depth and heading control validated the vectored thruster’s capability to fulfill the AUV’s motion control requirements. Full article
(This article belongs to the Special Issue Advanced Robots: Design, Control and Application—2nd Edition)
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21 pages, 7819 KiB  
Article
Research on the Deviation Correction Control of a Tracked Drilling and Anchoring Robot in a Tunnel Environment
by Chuanwei Wang, Hongwei Ma, Xusheng Xue, Qinghua Mao, Jinquan Song, Rongquan Wang and Qi Liu
Actuators 2024, 13(6), 221; https://doi.org/10.3390/act13060221 - 13 Jun 2024
Viewed by 685
Abstract
In response to the challenges of multiple personnel, heavy support tasks, and high labor intensity in coal mine tunnel drilling and anchoring operations, this study proposes a novel tracked drilling and anchoring robot. The robot is required to maintain alignment with the centerline [...] Read more.
In response to the challenges of multiple personnel, heavy support tasks, and high labor intensity in coal mine tunnel drilling and anchoring operations, this study proposes a novel tracked drilling and anchoring robot. The robot is required to maintain alignment with the centerline of the tunnel during operation. However, owing to the effects of skidding and slipping between the track mechanism and the floor, the precise control of a drilling and anchoring robot in tunnel environments is difficult to achieve. Through an analysis of the body and track mechanisms of the drilling and anchoring robot, a kinematic model reflecting the pose, steering radius, steering curvature, and angular velocity of the drive wheel of the drilling and anchoring robot was established. This facilitated the determination of speed control requirements for the track mechanism under varying driving conditions. Mathematical models were developed to describe the relationships between a tracked drilling and anchoring robot and several key factors in tunnel environments, including the minimum steering space required by the robot, the minimum relative steering radius, the steering angle, and the lateral distance to the sidewalls. Based on these models, deviation-correction control strategies were formulated for the robot, and deviation-correction path planning was completed. In addition, a PID motion controller was developed for the robot, and trajectory-tracking control simulation experiments were conducted. The experimental results indicate that the tracked drilling and anchoring robot achieves precise control of trajectory tracking, with a tracking error of less than 0.004 m in the x-direction from the tunnel centerline and less than 0.001 m in the y-direction. Considering the influence of skidding, the deviation correction control performance test experiments of the tracked drilling and anchoring robot at dy = 0.5 m away from the tunnel centerline were completed. In the experiments, the tracked drilling and anchoring robot exhibited a significant difference in speed between the two sides of the tracks with a track skid rate of 0.22. Although the real-time tracking maximum error in the y-direction from the tunnel centerline was 0.13 m, the final error was 0.003 m, meeting the requirements for position deviation control of the drilling and anchoring robot in tunnel environments. These research findings provide a theoretical basis and technical support for the intelligent control of tracked mobile devices in coal mine tunnels, with significant theoretical and engineering implications. Full article
(This article belongs to the Special Issue Advanced Robots: Design, Control and Application—2nd Edition)
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10 pages, 3290 KiB  
Article
Design of a Tripod LARMbot Arm
by Marco Ceccarelli, Steven Beaumont and Matteo Russo
Actuators 2024, 13(6), 211; https://doi.org/10.3390/act13060211 - 5 Jun 2024
Viewed by 988
Abstract
A new design for humanoid arms is presented based on a tripod mechanism that is actuated by linear servomotors. A specific prototype is built and tested, with the results of performance characterization verifying a possible implementation on the LARMbot humanoid. The design solves [...] Read more.
A new design for humanoid arms is presented based on a tripod mechanism that is actuated by linear servomotors. A specific prototype is built and tested, with the results of performance characterization verifying a possible implementation on the LARMbot humanoid. The design solves the main requirements in terms of a high payload ratio with respect to arm weight by using a tripod architecture with parallel manipulator behavior. The built prototype is assembled with commercial components to match the expectations for low-cost user-oriented features. The test results show satisfactory operation characteristics both in motion and force performance, which will ensure a future successful implementation in the LARMbot humanoid structure. Full article
(This article belongs to the Special Issue Advanced Robots: Design, Control and Application—2nd Edition)
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39 pages, 16682 KiB  
Article
Design and Analysis of the Mechanical Structure of a Robot System for Cabin Docking
by Ronghua Liu and Feng Pan
Actuators 2024, 13(6), 206; https://doi.org/10.3390/act13060206 - 30 May 2024
Viewed by 703
Abstract
Aiming at the disadvantages of traditional manual docking, such as low assembly efficiency and large positioning error, a six-DOF dual-arm robot system for module docking is designed. Firstly, according to the operation tasks of the cabin docking robot, its functional requirements and key [...] Read more.
Aiming at the disadvantages of traditional manual docking, such as low assembly efficiency and large positioning error, a six-DOF dual-arm robot system for module docking is designed. Firstly, according to the operation tasks of the cabin docking robot, its functional requirements and key indicators are determined, the overall scheme of the robot is designed, and the composition and working principle of the robot joints are introduced in detail. Secondly, a strength analysis of the core components of the docking robot is carried out by finite element analysis software to ensure its load capacity. Based on the kinematics model of the robot, the working space of the robot mechanism is simulated and analyzed. Finally, the experimental platform of the docking robot is built, and the working space, repeated positioning accuracy, and motion control accuracy of the docking robot mechanism are verified through experiments, which meet the design requirements. Full article
(This article belongs to the Special Issue Advanced Robots: Design, Control and Application—2nd Edition)
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20 pages, 10938 KiB  
Article
The Design and Analysis of a Tunnel Retro-Reflective Ring Climbing and Cleaning Robot
by Yuhan Li, Shiqing Ye, Rongxu Cui and Zhaoyu Shou
Actuators 2024, 13(6), 197; https://doi.org/10.3390/act13060197 - 22 May 2024
Viewed by 863
Abstract
In response to the challenges posed by the difficult cleaning of tunnel retro-reflective rings and the unsuitability of existing climbing robots for ascending tunnel retro-reflective rings, a tunnel retro-reflective ring cleaning robot is proposed. Firstly, based on the analysis of the operational and [...] Read more.
In response to the challenges posed by the difficult cleaning of tunnel retro-reflective rings and the unsuitability of existing climbing robots for ascending tunnel retro-reflective rings, a tunnel retro-reflective ring cleaning robot is proposed. Firstly, based on the analysis of the operational and environmental characteristics and functional requirements inside the tunnel, the design and planning of the robot’s main framework, motion system, cleaning mechanism, and intelligent detection system are conducted to evaluate its walking ability under various working conditions, such as aluminum plate overlaps and rivet protrusions. Subsequently, stability analysis is performed on the robot. The static analysis explored conditions that can make the climbing robot stable, the dynamic analysis obtained the minimum driving torque and finally, verified the stability of the robot through experiments. After that, by changing the material and thickness of the main framework for deformation simulation analysis, the optimal parameters to optimize the design of the main framework are found. Finally, the three factors affecting the cleaning effect of the robot are discussed by the response surface method, and single factor analysis and response surface regression analysis are carried out, respectively. The mathematical regression model of the three factors is established and the best combination of the three factors is found. The cleaning effect is best when the cleaning disc pressure is 5.101 N, the walking wheel motor speed is 36.93 rad/min, and the cleaning disc motor speed is 38.252 rad/min. The development of this machine can provide equipment support for the cleaning of tunnel retro-reflective rings, reducing the requirement of manpower and material resources. Full article
(This article belongs to the Special Issue Advanced Robots: Design, Control and Application—2nd Edition)
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18 pages, 6525 KiB  
Article
Sensor-Based Identification of Singularities in Parallel Manipulators
by Jose L. Pulloquinga, Marco Ceccarelli, Vicente Mata and Angel Valera
Actuators 2024, 13(5), 168; https://doi.org/10.3390/act13050168 - 1 May 2024
Cited by 1 | Viewed by 1245
Abstract
Singularities are configurations where the number of degrees of freedom of a robot changes instantaneously. In parallel manipulators, a singularity could reduce the mobility of the end-effector or produce uncontrolled motions of the mobile platform. Thus, a singularity is a critical problem for [...] Read more.
Singularities are configurations where the number of degrees of freedom of a robot changes instantaneously. In parallel manipulators, a singularity could reduce the mobility of the end-effector or produce uncontrolled motions of the mobile platform. Thus, a singularity is a critical problem for mechanical design and model-based control. This paper presents a general sensor-based method to identify singularities in the workspace of parallel manipulators with low computational cost. The proposed experimental method identifies a singularity by measuring sudden changes in the end-effector movements and huge increments in the forces applied by the actuators. This paper uses an inertial measurement unit and a 3D tracking system for measuring the end-effector movements, and current sensors for the forces exerted by the actuators. The proposed sensor-based identification of singularities is adjusted and implemented in three different robots to validate its effectiveness and feasibility for identifying singularities. The case studies are two prototypes for educational purposes—a five-bar mechanism and an L-CaPaMan parallel robot—and a four-degree-of-freedom robot for rehabilitation purposes. The tests showcase its potential as a practical solution for singularity identification in educational and industrial robots. Full article
(This article belongs to the Special Issue Advanced Robots: Design, Control and Application—2nd Edition)
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26 pages, 8567 KiB  
Article
On the Relative Kinematics and Control of Dual-Arm Cutting Robots for a Coal Mine
by Peng Liu, Haochen Zhou, Xinzhou Qiao and Yan Zhu
Actuators 2024, 13(5), 157; https://doi.org/10.3390/act13050157 - 24 Apr 2024
Viewed by 1022
Abstract
There is an unbalanced problem in the traditional laneway excavation process for coal mining because the laneway excavation and support are at the same position in space but they are separated in time, consequently leading to problems of low efficiency in laneway excavation. [...] Read more.
There is an unbalanced problem in the traditional laneway excavation process for coal mining because the laneway excavation and support are at the same position in space but they are separated in time, consequently leading to problems of low efficiency in laneway excavation. To overcome these problems, an advanced dual-arm tunneling robotic system for a coal mine is developed that can achieve the synchronous operation of excavation and the permanent support of laneways to efficiently complete excavation tasks for large-sized cross-section laneways. A dual-arm cutting robot (DACR) has an important influence on the forming quality and excavation efficiency of large-sized cross-section laneways. As a result, the relative kinematics, workspace, and control of dual-arm cutting robots are investigated in this research. First, a relative kinematic model of the DACR is established, and a closed-loop control strategy for the robot is proposed based on the relative kinematics. Second, an associated workspace (AW) for the DACR is presented and generated, which can provide a reference for the cutting trajectory planning of a DACR. Finally, the relative kinematics, closed-loop kinematic controller, and associated workspace generation algorithm are verified through simulation results. Full article
(This article belongs to the Special Issue Advanced Robots: Design, Control and Application—2nd Edition)
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16 pages, 16001 KiB  
Article
On Combining Shape Memory Alloy Actuators and Pneumatic Actuators for Performance Enhancement in Soft Robotics
by Florian-Alexandru Brașoveanu and Adrian Burlacu
Actuators 2024, 13(4), 127; https://doi.org/10.3390/act13040127 - 3 Apr 2024
Cited by 1 | Viewed by 1205
Abstract
Through soft robotics, flexible structures confer an elevated degree of protection and safety in usage, as well as precision and reliability. Using theoretical models while combining different types of soft components opens a wide variety of possibilities for the development of new and [...] Read more.
Through soft robotics, flexible structures confer an elevated degree of protection and safety in usage, as well as precision and reliability. Using theoretical models while combining different types of soft components opens a wide variety of possibilities for the development of new and better alternatives to rigid robots. Modeling and controlling soft robotic structures is still a challenge and is presented in different ways by the scientific community. The present scientific work aims to combine two of the most popular types of soft actuators, specifically shape memory alloy and pneumatic actuators. The purpose is to observe the interaction between individual entities and the resulting combined dynamics, highlighting the distinctive effects and influences observed in the combined system. An evaluation is conducted from a numerical simulation perspective in the MATLAB environment using representative mathematical models. The tests prove that a structure combining these particular actuators benefits from the advantages of both components and even compensates for individual downsides. Full article
(This article belongs to the Special Issue Advanced Robots: Design, Control and Application—2nd Edition)
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17 pages, 7891 KiB  
Article
Hybrid Nursing Robot Based on Humanoid Pick-Up Action: Safe Transfers in Living Environments for Lower Limb Disabilities
by Jiabao Li, Chengjun Wang and Hailong Deng
Actuators 2023, 12(12), 438; https://doi.org/10.3390/act12120438 - 24 Nov 2023
Viewed by 1489
Abstract
This research paper outlines the development of a modular and adjustable transfer care robot aimed at enhancing safe and comfortable transfers for individuals with lower limb disabilities. To design this robot, we utilized a 3D motion capture system to analyze the movements of [...] Read more.
This research paper outlines the development of a modular and adjustable transfer care robot aimed at enhancing safe and comfortable transfers for individuals with lower limb disabilities. To design this robot, we utilized a 3D motion capture system to analyze the movements of a person assisting another person and to determine the necessary range of motion and workspace for the robot. Based on this analysis, we developed a 3-UPS + UPR parallel spreader to transfer the person receiving care. We also conducted kinematic and dynamic analyses of the parallel spreader to validate its operational space and to obtain the force change curve for the drive. To evaluate the robot’s performance, we enlisted the help of ten volunteers with varying heights and weights. Our findings indicate that the pressure distribution during transfers remained largely consistent. Additionally, the surveys revealed that those receiving care perceived the robot as being capable of securely and comfortably transferring individuals between different assistive devices. This modular and adaptable transfer assistance robot presents a promising solution to the challenges encountered in caregiving. Full article
(This article belongs to the Special Issue Advanced Robots: Design, Control and Application—2nd Edition)
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21 pages, 10573 KiB  
Article
Adaptive Super-Twisting Sliding Mode Control of Underwater Mechanical Leg with Extended State Observer
by Lihui Liao, Luping Gao, Mboulé Ngwa, Dijia Zhang, Jingmin Du and Baoren Li
Actuators 2023, 12(10), 373; https://doi.org/10.3390/act12100373 - 27 Sep 2023
Cited by 3 | Viewed by 1440
Abstract
Underwater manipulation is one of the most significant functions of the deep-sea crawling and swimming robot (DCSR), which relies on the high-accuracy control of the body posture. As the actuator of body posture control, the position control performance of the underwater mechanical leg [...] Read more.
Underwater manipulation is one of the most significant functions of the deep-sea crawling and swimming robot (DCSR), which relies on the high-accuracy control of the body posture. As the actuator of body posture control, the position control performance of the underwater mechanical leg (UWML) thus determines the performance of the underwater manipulation. An adaptive super-twisting sliding mode control method based on the extended state observer (ASTSMC-ESO) is proposed to enhance the position control performance of the UWML by taking into account the system’s inherent nonlinear dynamics, uncertainties, and the external disturbances from hydrodynamics, dynamic seal resistance, and compensation oil viscous resistance. This newly designed controller incorporates sliding mode (SMC) feedback control with feedforward compensation of the system uncertainties estimated by the ESO, and the external disturbances of the hydrodynamics by fitting the parameters, the dynamic seal resistance, and the compensation oil viscous resistance to the tested results. Additionally, an adaptive super-twisting algorithm (AST) with integral action is introduced to eliminate the SMC’s chattering phenomenon and reduce the system’s steady-state error. The stability of the proposed controller is proved via the Lyapunov method, and the effectiveness is verified via simulation and comparative experimental studies with SMC and the adaptive fuzzy sliding mode control method (AFSMC). Full article
(This article belongs to the Special Issue Advanced Robots: Design, Control and Application—2nd Edition)
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25 pages, 14633 KiB  
Article
Design and Simulation of a Seven-Degree-of-Freedom Hydraulic Robot Arm
by Jun Zhong, Wenjun Jiang, Qianzhuang Zhang and Wenhao Zhang
Actuators 2023, 12(9), 362; https://doi.org/10.3390/act12090362 - 14 Sep 2023
Cited by 3 | Viewed by 4053
Abstract
The current reliance on manual rescue is inefficient, and lightweight, highly flexible, and intelligent robots need to be investigated. Global seismic disasters occur often, and rescue jobs are defined by tight timetables and high functional and intellectual requirements. This study develops a hydraulically [...] Read more.
The current reliance on manual rescue is inefficient, and lightweight, highly flexible, and intelligent robots need to be investigated. Global seismic disasters occur often, and rescue jobs are defined by tight timetables and high functional and intellectual requirements. This study develops a hydraulically powered redundant robotic arm with seven degrees of freedom. To determine the force situation of the robotic arm in various positions, the common digging and handling conditions of the robotic arm are dynamically simulated in ADAMS. A finite element analysis is then performed for the dangerous force situation to confirm the structural strength of the robotic arm. The hydraulic manipulator prototype is manufactured, and stress–strain experiments are conducted on the robotic arm to verify the finite element simulation’s reliability. Full article
(This article belongs to the Special Issue Advanced Robots: Design, Control and Application—2nd Edition)
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30 pages, 30435 KiB  
Article
Design and Experimental Testing of an Ankle Rehabilitation Robot
by Ioan Doroftei, Cristina-Magda Cazacu and Stelian Alaci
Actuators 2023, 12(6), 238; https://doi.org/10.3390/act12060238 - 8 Jun 2023
Cited by 5 | Viewed by 2271
Abstract
The ankle joint (AJ) is a crucial joint in daily life, responsible for providing stability, mobility, and support to the lower limbs during routine activities such as walking, jumping, and running. Ankle joint injuries can occur due to sudden twists or turns, leading [...] Read more.
The ankle joint (AJ) is a crucial joint in daily life, responsible for providing stability, mobility, and support to the lower limbs during routine activities such as walking, jumping, and running. Ankle joint injuries can occur due to sudden twists or turns, leading to ligament sprains, strains, fractures, and dislocations that can cause pain, swelling, and limited mobility. When AJ trauma occurs, joint instability happens, causing mobility limitations or even a loss of joint mobility, and rehabilitation therapy is necessary. AJ rehabilitation is critical for those recovering from ankle injuries to regain strength, stability, and function. Common rehabilitation methods include rest, ice, compression, and elevation (RICE), physical therapy, ankle braces, and exercises to strengthen the surrounding muscles. Traditional rehabilitation therapies are limited and require constant presence from a therapist, but technological advancements offer new ways to fully recover from an injury. In recent decades there has been an upswing in research on robotics, specifically regarding rehabilitation. Robotic platforms (RbPs) offer several advantages for AJ rehabilitation assistance, including customized training programs, real-time feedback, improved performance monitoring, and increased patient engagement. These platforms use advanced technologies such as sensors, actuators, and virtual reality to help patients recover quicker and more efficiently. Furthermore, RbPs can provide a safe and controlled environment for patients who need to rebuild their strength and mobility. They can enable patients to focus on specific areas of weakness or instability and provide targeted training for faster recovery and reduced risk of re-injury. Unfortunately, high costs make it difficult to implement these systems in recuperative institutions, and the need for low-cost platforms is apparent. While different systems are currently being used, none of them fully satisfy patient needs or they lack technical problems. This paper addresses the conception, development, and implementation of rehabilitation platforms (RPs) that are adaptable to patients’ needs by presenting different design solutions (DSs) of ankle RPs, mathematical modeling, and simulations of a selected rehabilitation platform (RP) currently under development. In addition, some results from practical tests of the first prototype of this RP are presented. One patient voluntarily agreed to use this platform for more rehabilitation sessions on her AJ (right leg). To counteract some drawbacks of the first prototype, some improvements in the RP design have been proposed. The results on testing the improved prototype will be the subject of future work. Full article
(This article belongs to the Special Issue Advanced Robots: Design, Control and Application—2nd Edition)
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