606 Results Found

Ultrasound imaging is widely valued for its safety, non-invasiveness, and real-time capabilities but is often limited by operator variability, affecting image quality and reproducibility. Robot-assisted ultrasound may provide a solution by delivering...

We focus on dual-user operation, where two users control a single remote robot equipped with a force sensor using haptic interface devices. We employ a cooperative work in which the two users control the remote robot to collaborate with remote robot...

Robot-assisted technology is often used to perform endovascular catheterization surgeries, which generally depend on the flexible operability and the accurate force feedback of a robotic system. In this paper, an endovascular catheterization robotic...

In order to solve the problem of constant force control in the robot grinding process of a centrifugal pump housing a circular inner surface, this study used the force–position hybrid control mode based on a pneumatic servo system to realize th...

This paper describes a novel approach to the robotic system’s dexterous manipulator arm design. A simulation model of the robotic system is developed in the MATLAB/Simulink environment. The designed gripper moves the dumbbells from one shelf to...

Current teleoperated robotic systems for retinal surgery cannot effectively control subtle tool-to-tissue interaction forces. This limitation may lead to patient injury caused by the surgeon’s mistakes. To improve the safety of retinal surgery,...

Robotic grasping is a common operation scenario in industry and agriculture, in which the force sensing function is a significant factor to achieve reliable grasping. Existing force sensing methods of flexible grippers require intelligent materials o...

STRAS (Single access Transluminal Robotic Assistant for Surgeons) is a new robotic system based on the Anubis® platform of Karl Storz for application to intra-luminal surgical procedures. Pre-clinical testing of STRAS has recently permitted to demons...

Robots with multiple degrees of freedom (DOFs), such as underwater vehicle–manipulator systems (UVMSs), are expected to optimize system performance by exploiting redundancy with various basic tasks while still fulfilling the primary objective....

Waxing is an important aspect of automobile detailing, aimed at protecting the finish of the car and preventing rust. At present, this delicate work is conducted manually due to the need for iterative adjustments to achieve acceptable quality. This p...

This study presents an experimental robotic setup with a Stewart platform and a robot manipulator to emulate an underwater vehicle–manipulator system (UVMS). This hardware-based emulator setup consists of a KUKA IIWA14 robotic manipulator mount...

The COVID-19 pandemic has brought unprecedented extreme pressure on the medical system due to the physical distance policy, especially for procedures such as ultrasound (US) imaging, which are usually carried out in person. Tele-operation systems are...

In aerospace and new-energy vehicle manufacturing, there is an increasing demand for the high-quality joining of large, curved aluminum alloy structures. This study presents a robotic friction stir welding (RFSW) system employing a force/position hyb...

Compliance control strategies have been utilised for the ultraprecision polishing process for many years. Most researchers execute active compliance control strategies by employing impedance control law on a robot development platform. However, these...

Patient transfer has always been a difficult problem in the hospital. For medical staff, there are problems including high risk of infection, heavy physical labor and low efficiency of transfer; for patients, there are problems including poor comfort...

Robotic ultrasound scanning has excellent potential to reduce physician workload, obtain higher-quality imaging, and reduce costs. However, the traditional admittance control strategy for robotics cannot meet the high-precision force control requirem...

Learning variable impedance control is a powerful method to improve the performance of force control. However, current methods typically require too many interactions to achieve good performance. Data-inefficiency has limited these methods to learn f...

In recent years, there has been a growing interest in the development of robotic systems for improving the quality of life of individuals of all ages. Specifically, humanoid robots offer advantages in terms of friendliness and ease of use in such app...

Transcatheter arterial chemoembolization (TACE) is the common choice of non-open surgery for hepatocellular carcinoma (HCC) now. In this study, a simple TACE robotic system of 4-degree-of-freedom is proposed to get higher accuracy and stability of th...

The perception of touch opens new perspectives for so-called ’intelligent robotics’. Force/torque sensors are currently a key component of autonomous assembly processes or of the dynamically developing sector of collaborative robots. Resp...

This paper introduces a novel approach to robotic assistance in bottle opening using the dual-arm robot TIAGo++. The solution enhances accessibility by addressing the needs of individuals with injuries or disabilities who may require help with common...

This paper presents a robotic assembly methodology for the manufacturing of large segmented composite structures. The approach addresses three key steps in the assembly process: panel localization and pick-up, panel transport, and panel placement. Mu...

Obstacle contact detection is not commonly employed in autonomous robots, which mainly depend on avoidance algorithms, limiting their effectiveness in cluttered environments. Current contact-detection techniques suffer from blind spots or discretized...

Robotic grippers allow industrial robots to interact with the surrounding environment. However, control architectures of the grasping force are still rare in common industrial grippers. In this context, one or more sensors (e.g., force or torque sens...

The tiger beetle can maintain its stability by controlling the interaction force between its legs and an unstructured terrain while it runs. The biomimetic hexapod robot mimics a tiger beetle, and a comprehensive force sensing system combined with ce...

The design and control of lower-limb rehabilitation robots for patients after a stroke has gained significant attention. This paper presents the dynamic analysis and control of a 3-degrees-of-freedom lower-limb rehabilitation robot using combined pos...

To protect operators and conform to safety standards for human–machine interactions, the design of collaborative robot arms often incorporates flexible mechanisms and force sensors to detect and absorb external impact forces. However, this appr...

In order to satisfy the requirement of the automatic ultrasonic strengthening of an aviation blade surface, this paper puts forward a robotic compliance control strategy of contact force for ultrasonic surface strengthening. By building the force/pos...

In human-robot cooperative control systems, force feedback is often necessary in order to achieve high precision and high stability. Usually, traditional robot assistant systems implement force feedback using force/torque sensors. However, it is diff...

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...

Manipulation of heavy objects in industries is very necessary, but manual manipulation is tedious, adversely affects a worker’s health and safety, and reduces efficiency. On the contrary, autonomous robots are not flexible to manipulate heavy objects...

Slipping detection and avoidance are key issues in dexterous robotic manipulation. The capability of robots to grasp and manipulate objects of common use can be greatly enhanced by endowing these robots with force/tactile sensors on their fingertips....

When addressing the technical challenges of achieving precise force tracking during the local polishing process of polishing robots, controlling the contact state between the robot and the workpiece surface is essential. To this end, a contact motion...

This paper presents a study regarding the design and the experimental setup of a medical robotic system for brachytherapy using tribology analysis. The robotic system is composed of a collaborative robotic arm and a multi-needle brachytherapy instrum...

Addressing the challenges for detecting underwater damage to the structures with pile foundation, this study presents the design of an adsorption-operated robotic system. Initially, a prototype is proposed for an adsorption-operated robot that is equ...

Robot arms used for service applications require safe human–machine interactions; therefore, the control gain of such robot arms must be minimized to limit the force output during operation, which slows the response of the control system. To im...

This study is mainly about the designation of a new type of haptic device and an asymmetric teleoperation robot system. Aiming at the problems of tracking and transparency of an asymmetric teleoperation system, a robust control algorithm based on a s...

This article proposes a decentralized controller for differential mobile robots, providing autonomous navigation and obstacle avoidance by enforcing a formation toward trajectory tracking. The control system relies on dynamic modeling, which integrat...

This paper proposes a page-turning strategy using an assistive robot that has a low-degree-of-freedom robotic hand. The robotic hand is based on human object handling characteristics, which significantly reduces the number of fingers and joints requi...

To achieve obstacle-avoiding puncture in breast interventional surgery, a robotics system based on three-fingered breast target-point manipulation is proposed and designed. Firstly, based on the minimum number of control points required for three-dim...

In recent years, force control has become more important due to the physical interaction of robots with humans and applications of robots to complex environments. Impedance control is widely used in force control; however, it cannot reproduce the beh...

The inspection of legacy nuclear facilities to aid in decommissioning is a world wide issue. One of the challenges is the characterisation of pipe networks within them. This paper presents an autonomous control system for the navigation of these unkn...

To improve the processing quality and efficiency of robotic belt grinding, an adaptive sliding-mode iterative constant-force control method for a 6-DOF robotic belt grinding platform is proposed based on a one-dimension force sensor. In the investiga...

This study presents a method of controlling robots based on fuzzy logic to eliminate the effect of uncertainties that are generated by the cutting forces in milling process. The common method to control industrial robots is based on the robot dynamic...

The motion-control precision of a shallow-sea underwater robot is seriously affected by external disturbances such as wind, waves and ocean currents. Due to the lack of a specialized disturbance-sensor system, the disturbance force and torque cannot...

In this paper, the author presents the adaptive control design and stability analysis of robotic manipulators based on two main approaches, i.e., Lyapunov stability theory and hyperstability theory. For the Lyapunov approach, the author presents the...

Various remote-controlled methods have been developed to improve operability using force or visual assists; however, using only force or visual assists may deteriorate the operability or safety performance. Therefore, a remote-controlled method with...

For the application of parallel robots in the grinding industry, a parallel robot equipped with a constant force actuator that produces a constant force for grinding is designed. To study the characteristics of the parallel robot’s spatial posi...

Sensors provide robotic systems with the information required to perceive the changes that happen in unstructured environments and modify their actions accordingly. The robotic controllers which process and analyze this sensory information are usuall...

In this paper, the trajectory planning and position/force coordination control of multi-robot systems during the welding process are discussed. Trajectory planning is the basis of the position/ force cooperative control, an object-oriented hierarchic...