This paper presents a novel parallel dual-stage compliant nanopositioning system (PDCNS), aimed at nanoscale positioning for microscale manipulation. In the developed PDCNS, the coarse stage actuated by the voice coil motor and the fine stage driven...
The abstraction and implementation of plant movement principles into biomimetic compliant systems are of increasing interest for technical applications, e.g., in architecture, medicine, and soft robotics. Within the respective research and developmen...
Currently, the gesture-based teleoperation system cannot generate precise and compliant robot motions because human motions have the characteristics of uncertainty and low-resolution. In this paper, a novel, gesture-based teleoperation system for com...
The paper presents an innovative soft gripper system designed for automated assembling operations. The novel robotic soft gripper utilizes a linear pneumatic muscle as its motor, due to its inherently compliant behavior. This renders redundant the de...
Robots that enable safe human-robot collaboration can be realized by using compliant drive units. In previous works, different mechanical designs of compliant pneumatic rotary drive units with similar characteristics have been presented. In this pape...
The next-generation technologies enabled by the industry 4.0 revolution put immense pressure on traditional ISA95 compliant manufacturing systems to evolve into smart manufacturing systems. Unfortunately, the transformation of old to new manufacturin...
The paper presents an innovative theoretical concept of a bio-inspired soft gripper system with two parallel jaws, a fixed and a mobile one. It is conceived for gripping fragile or soft objects with complex, irregular shapes that are easily deformabl...
This paper presents the design, construction, and implementation of a soft robotic system comprising a continuum manipulator arm equipped with a compliant gripper. Three main objectives were pursued: (1) developing a soft silicone gripper as an alter...
Micro-stereolithography (MSL) has emerged as a promising and challenging technique in micro-/nano-scale additive manufacturing. Besides the requirement of the light source, the motion system requires ultra-high-precision tracking capability to reach...
Active debris removal (ADR) is positioned by space agencies as an in-orbit task of great importance for stabilizing the exponential growth of space debris. Most of the already developed capturing systems are designed for large specific cooperative sa...
The use of Vehicular Ad-Hoc Networks (VANETs) is growing nowadays and it includes both roadside-to-vehicle communication (RVC) and inter-vehicle communication (IVC). The purpose of VANETs is to exchange useful information between vehicles and the roa...
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...
Smart healthcare systems provide user-centric medical services to patients based on collected information of patients inducing personal health information (PHI) and personal identifiable information (PII). The information (PII and PHI) flows into the...
Compliant amplifying mechanisms are used widely in high-precision instruments driven by piezoelectric actuators, and the dynamic and static characteristics of these mechanisms are closely related to instrument performance. Although the majority of ex...
A scheme for modelling and controlling a two-dimensional positioning system with a topology-optimized compliant mechanism is presented. The system is designed to ensure a relatively large workspace and exhibit robustness against system nonlinearities...
Underwater remotely operated vehicles (ROVs) are linked to the surface through a tether that is usually controlled by a human operator. The length of the tether being deployed in the water in real time is a critical determinant of the success of the...
Without mechanical compliance robots rely on controlled environments and precision equipment to avoid clashes and large contact forces when interacting with an external workpiece, e.g., a peg-in-hole (PiH) task. In such cases, passive compliance devi...
Cellular Materials and Topology Optimization use a structured distribution of material to achieve specific mechanical properties. The controlled distribution of material often leads to several advantages including the customization of the resulting m...
This article focuses on the development of a 3D-printed 2-degree-of-freedom (DOF) joint for the payloads’ orientation on small satellites. This system is a compliant mechanism, meaning that this monolithic system composed of cross-axis flexural...
This paper presents a planar cable-driven model of a simple mechanism that is able to measure forces and displacements. Recently, a preliminary study based on a cable-driven sensitive mechanism was presented to the research community, underlining the...
Compliant continuum robots (CCRs) have slender and elastic bodies. Compared with a traditional serial robot, they have more degrees of freedom and can deform their flexible bodies to go through a constrained environment. In this paper, we classify CC...
This paper explores a concept for dynamic amplification of piezoelectric actuator motion using repeated impacts between the active transducer and a compliant amplification mechanism. The design shows good performance in amplifying vibration of a lead...
To address the need for asthma self-management in pediatrics, the authors present the feasibility of a mobile health (mHealth) platform built on their prior work in an asthmatic adult and child. Real-time asthma attack risk was assessed through physi...
Growing concern for environmental sustainability has resulted in the implementation of sanitization methods that respect ecological principles. This research evaluates a “green” sanitizing protocol that uses CAM (Minimum Environmental Cri...
A nature-inspired musculoskeletal system is designed and developed to examine the principle of nonlinear elastic energy storage–release for robotic applications. The musculoskeletal system architecture consists of elastically rigid segments and...
To address the wear life prediction challenge of Guide Cones in passive compliant connectors under dynamic loads within specialized equipment, this study proposes a dynamic wear modeling and life assessment method based on the improved Archard model....
The main challenge in analyzing compliant sensor systems is how to calculate the large deformation of flexural complements. Our study proposes a new model that is called the spline pseudo-rigid-body model (spline PRBM). It combines dynamic spline and...
This article presents the design, analysis, and prototype testing of a four-degrees-of-freedom (4-DoFs) spatial pose adjustment system (SPAS) that achieves high-precision positioning with 4-DoFs (Z/Tip/Tilt/Θ). The system employs a piezoelectri...
In response to the urging need of fire managers for timely information on fire location and extent, the SITHON system was developed. SITHON is a fully digital thermal imaging system, integrating INS/GPS and a digital camera, designed to provide timel...
As the number of ships for marine transportation increases with the advancement of global trade, encountering multiple ships in marine traffic becomes common. This situation raises the risk of collision of the ships; hence, this paper proposes a nove...
The catenary mooring system is a well recognized station keeping method. However, there could be economical and environmental benefits of reducing the footprint. In the last decades, more focus has been given to synthetic mooring lines and different...
In this work, a novel mechanical amplification structure for a MEMS vibratory gyroscope is proposed with the aim of improving their sensitivity. The scheme is implemented using a system of micromachined V-shaped springs as a deflection amplifying mec...
This paper aims to create a high-quality surface based on the linear contact material removal mechanism. For this paper, a piezo-driven, flexure-based micro-motion stage was developed for the vibration-assisted roll-type precision polishing system. M...
In recent years, advancements in technologies related to hydrogen have facilitated the exploitation of this energy carrier in conjunction with renewable energies to meet the energy demands of diverse applications. This paper describes a pilot plant w...
The work presented in the paper describes a mechatronic test stand and technique employed to determine the accuracy of a system developed by the authors to assist optometrists in measuring parameters used in the customization of progressive lenses, a...
This paper addresses inherent limitations in unmanned aerial vehicle (UAV) undercarriages hindering vertical takeoff and landing (VTOL) capabilities on uneven slopes and obstacles. Robotic landing gear (RLG) designs have been proposed to address thes...
In the network environment of power systems, payload generation is used to construct data packets, which are used to obtain data for the security management of network assets. Payloads generated by existing methods cannot satisfy the specifications o...
This article focuses on power electronic multi-pulse 12-, 24- and 36-impulse rectifiers based on multi-winding rectifier transformers. The effectiveness of voltage processing with different variants of supply voltage sources is discussed and argument...
Force–torque sensors are used in many and different domains (i.e., space, medicine, biology, etc.). Design solutions of force–torque sensors can be conceived by using many types of connections or components; however, there are only a few...
Future automotive mobility is predominantly electric. Compared to existing systems, the requirements of subsystems change. Air flow for cooling components is needed predominantly when the car is in rest (i.e., charging) or at slow speeds. So far, act...
Nature has many striking examples of adaptive structures: the emulation of birds’ flight is the true challenge of a morphing wing. The integration of increasingly innovative technologies, such as reliable kinematic mechanisms, embedded servo-ac...
Fast tool servo (FTS) machining technology is a promising method for freeform surfaces and machining micro-nanostructure surfaces. However, limited degrees of freedom (DOF) is an inherent drawback of existing FTS technologies. In this paper, a piezo-...
In this study, we developed a single leg knee joint assistance robot. Commonly used exoskeletons have a left-right pair, but when only one leg of the wearer is uncomfortable, it is effective to wear the exoskeleton on only the uncomfortable leg. The...
This paper presents an enhanced pseudo-rigid body model (PRBM) integrated with the LuGre friction law to analyze the dynamic behavior of flexure-hinge-based piezoelectric stick–slip actuators (PSSAs). The PRBM captures flexure compliance throug...
Cable-driven mechanism models are, usually, included in actuated systems; however, recently, their use for sensitive systems has been explored. In this paper, two cable-driven multi-body mechanism models are compared, underlining advantages and const...
This article presents a comprehensive investigation of the dynamic coupling between a piezoelectric actuator (PZT) and its driving nonlinear stiffness mechanism (NSM) stage for precise positioning control. Particular emphasis is placed on the preload...
The piezoelectric-actuated flexure-based compliant platform is commonly adopted in many fields of micro and nanotechnology. In this paper, bond graph modeling, and kinematic and dynamic characteristics of a piezoelectric-actuated micro-/nano complian...
This paper describes a method for reducing the energy consumption of industrial robots and electrically actuated mechanisms performing cyclic tasks. The energy required by the system is reduced by outfitting it with additional devices able to store a...
Buckling stability of thin films on compliant substrates is universal and essential in stretchable electronics. The dynamic behaviors of this special system are unavoidable when the stretchable electronics are in real applications. In this paper, an...
Compliant force control is a fundamental capability for enabling robots to interact safely and effectively with dynamic and uncertain environments. This paper presents a comprehensive survey of compliant force control strategies, intending to enhance...
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