Search Results (3,248)

This study evaluated and integrated automatic pathology equipment and a collaborative robot to create a fully autonomous workflow. We selected the Gemini AS Automated Slide Stainer, ClearVue Coverslipper, and Pannoramic 1000 digital slide scanner, controlled by a UR5e robotic arm. To perform essential clinical laboratory tasks, we determined that the robotic arm, in combination with a custom manipulator, requires 9 degrees of freedom—5 from the robot and 4 from the manufactured manipulator. The patented manipulator is equipped with a camera, LED lighting, and three specialized grippers for object detection and precise handling of equipment doors, magazines, and slides. It is designed to mount onto a standardized robot flange interface (ISO 9409-1-50-4-M6), making it mechanically compatible with various robot arms. A minimum of 24 distinct laboratory tasks were defined for the training of the robotic arm. This autonomous workflow mitigates labor shortages and accelerates diagnostic processes by offloading repetitive tasks, thereby improving efficiency in pathology laboratories. Full article

The design, control, simulation and animation of robotic systems heavily depend on dynamic modeling. A variety of studies have explored different dynamic modeling methodologies applied to diverse robotic mechanisms. Artificial neural networks (ANNs) have proven their value in engineering design in recent years, enhancing the understanding of complex mechanisms as well as shortening experimental periods and decreasing related expenses. This study investigates the application of various neural network algorithms for the analysis of a custom-designed three-link planar revolute–prismatic–revolute (RPR) robotic arm mechanism. Initially, the Euler–Lagrange equations of motion for the RPR mechanism are derived. Joint accelerations are then computed under different mass configurations of the robotic links, resulting in a dataset comprising 204 joint acceleration samples. Six distinct neural network models are subsequently employed to perform regression analysis on the collected data. The primary objective of this study is to analyze the relationship between joint accelerations and varying link masses under constant joint torques and forces, while its secondary aim is to present a representative application of neural networks as regression learners for the dynamic modeling of robotic mechanisms. The approach outlined in this study allows users to select appropriate neural network algorithms for use in specific applications, considering the wide range of available algorithms. Link mass variations and their effects on joint accelerations are investigated, establishing a basis for the modeling of robotic dynamics using regression-based neural networks. The results indicate that the optimizable neural network algorithm produces the best regression accuracy results, although the other models maintain similar performance levels. Full article

This research aims to investigate the practicality and feasibility of pneumatic muscle actuators (PMAs) applied in the pneumatic servo system. The mechanism consists of closed symmetrical planar robotic arms driven by two pairs of opposing PMAs, whose structure is similar to human arms. Importantly, the two distal links (or wrist parts) are combined into a collective end-effector, whose desired position is controlled only by the two shoulder angle joints. When two pairs of PMAs are attached to the upper arms, they actuate each shoulder and assist in the movement of the arms. However, the nonlinear behavior, high hysteresis, low damping, and time-varying characteristics of PMAs significantly limit their controllability. Therefore, to effectively address these challenges, a Fourier series-based adaptive sliding mode controller with H_∞ (FSB-ASMC + H_∞) is employed to achieve accurate path tracking of the PMAs. This control approach not only compensates for approximation errors, disturbances, and unmodeled dynamics but also ensures the desired H_∞ positioning performance of the overall system. The controller method can not only effectively prevent approximation errors, disturbances, and un-modeled dynamics but can also ensure the required H_∞ positioning performance of the whole system. Thus, the results of the experiment showed that the control strategy for the system collocating the FSB-ASMC + H_∞ can attain excellent control performance. Full article

Despite the growing use of collaborative robots in high-rise construction, ensuring safe human–robot collaboration (HRC) in hazardous environments remains a critical challenge. Addressing the gap that previous studies optimized human, robot, or task factors in isolation without a systemic coordination perspective, this study develops and empirically validates a Human–Task–Robot Alignment (HTRA) framework to explain how alignment mechanisms enhance safety performance in the construction of HRC. Data from 84 high-rise HRC projects were analyzed using Partial Least Squares Structural Equation Modeling (PLS-SEM). The results reveal that HTRA serves as a pivotal mechanism for safety improvement, where Human–Robot Alignment (HRA) and Task–Human Alignment (THA) exert stronger effects on bilateral safety perception than Task–Robot Alignment (TRA), underscoring the centrality of human factors at the current stage of HRC development. Moreover, this study identifies a sequential cognitive–behavioral path from safety perception to safety intention and safety behavior performance, explaining how alignment enhances safety performance. Standardized HRC guidelines further strengthen HRA, facilitating safer and more efficient collaboration. This study extends Task–Technology Fit theory to a triadic human–task–robot context and advances the concept of bilateral safety, providing theoretical and managerial guidance for developing next-generation safe collaboration systems in construction. Full article

This paper deals with the mechanical design and kinematic analysis of an autonomous wrist for space assembly (AWSA) whose actuators are activated by DC motors and ball screw drives. This robotic wrist was developed and built as a prototype to investigate in-space robotic operations, including maintaining and repairing spacecraft of the US National Aeronautics and Space Administration (NASA), such as the International Space Station (ISS) or satellites. Despite its disadvantages, such as a small workspace and low maneuverability, a parallel structure instead of a serial structure was selected for the design of the AWSA due to several advantages it has over a serial robot manipulator (SRM), including higher payload, greater stiffness, and better stability. The present paper also introduces a hybrid concept for robotic space operations, which combines an SRM performing gross motion and a parallel robot manipulator (PRM) performing fine motion. It then discusses the design and construction of the DC motor actuators and ball screw drives and presents the kinematic equations developed for the AWSA. This paper provides a closed-form solution to the inverse kinematics of the AWSA and a numerical solution using the Newton–Raphson method for its forward kinematics. Full article

Soft robotics has emerged as a promising approach for safe human–machine interaction, adaptive manipulation, and bioinspired motion, yet its progress relies on accurate material characterization and structural analysis of actuators. This study presents the mechanical behavior and stress analysis of a stereolithography-printed pneumatic actuator with antagonistic architecture, fabricated using Elastic 50A resin V2. Uniaxial tensile tests were performed according to ASTM D412 to derive material parameters, which were fitted to hyperelastic constitutive models. The Yeoh model was identified as the most accurate and implemented in finite element simulations to predict actuator deformation under multiple pressurization modes. Results revealed critical stress zones and established operational pressure limits of 110–130 kPa, beyond which the material approaches its tensile strength. Experimental testing with a controlled pneumatic system validated the numerical predictions, confirming both bending and multidirectional actuation as well as structural failure thresholds. The integration of material characterization, numerical modeling, and experimental validation provides a robust workflow for the design of SLA-fabricated antagonistic actuators. These findings highlight the advantages of combining digital fabrication with antagonistic actuation and material modeling to expand the understanding of soft robots’ behavior. Full article

Robotic mobile fulfillment systems have become an integral part of e-commerce warehouses. The pod repositioning problem, due to its interdependence with robot task allocation strategies, poses a significant challenge that constrains system performance. In this paper, we aim to jointly optimize the two interrelated problems of pod repositioning and task allocation. A multi-objective mixed-integer planning model is developed to minimize the maximum completion time of robots and the deviation between the pod position and the expected position. To tackle the challenges of decision coupling and a vast solution space, an adaptive genetic-neighborhood search algorithm guided by pod heat maps is designed. Additionally, to promptly correct expected layout deviations and avoid layout instability, a progressive storage mechanism is designed to update the expected layout. The numerical experiments show that compared to the staged optimization strategy, the joint optimization strategy proposed in this paper can reduce the maximum completion time by approximately 48%, and that the strategy reduces the maximum completion time by 9% to 16% compared to the nearest allocation strategy, which is commonly used and performs best in practice. Full article

Background and Clinical Significance: Sleeve gastrectomy is an effective and widely performed bariatric procedure that provides long-term, sustained weight loss, but it carries risks of early and late complications. Among these, gastric fistula is a rare occurrence associated with an increased mortality rate and must be carefully considered to ensure timely diagnosis and appropriate management. Case Presentation: We will present the complex case of a patient who was referred to the general surgery department due to severe abdominal pain, exertional dyspnea, nausea, fever and fatigue, symptoms that appeared one month after a robotic gastric sleeve. The investigations led to the diagnostic of high gastric fistula secondary to a gastric sleeve procedure. The patient underwent exploratory laparotomy with jejunostomy, peritoneal lavage, drainage, and endoscopic placement of an endoluminal vacuum assisted closure (E-VAC) system. Close clinical, laboratory, imaging, and endoscopic monitoring demonstrated progressive improvement, with complete resolution of the fistula achieved after seven weeks of E-VAC therapy. Conclusions: The particularity of this case lies in the occurrence of a delayed mechanical gastric suture dehiscence, with late diagnosis, managed using E-VAC. Even though rare, gastric fistulas represent a potentially life-threatening complication of sleeve gastrectomy. Early diagnosis and a multidisciplinary approach, which includes infection control, surgical intervention and minimally invasive techniques like E-VAC, are essential for effective management and favorable outcomes. Full article

If elastic elements are introduced into the mechanical architecture of a robotic manipulator, a free vibration response (Natural Motion) arises that can be exploited to reduce energy consumption in cyclic motions, such as pick-and-place tasks. In this work, this approach is applied to the RR-4R-R manipulator, which is derived from the SCARA robot by replacing the prismatic joint that drives the vertical motion of the end-effector with a four-bar mechanism. This mechanical modification lowers friction and facilitates the introduction of a balancing elastic element. If the elastic element is designed to provide indifferent equilibrium at any position (exact elastic balancing), the actuators need only to overcome the inertial forces; this approach is convenient for slow motions. Conversely, if the elastic element balances gravity exactly only in the median vertical position of the end-effector, Natural Motion around this position arises, and it can be exploited to reduce energy consumption in fast cyclic motions, where inertial forces become prevalent. The threshold of convenience between exact balancing and natural balancing has been evaluated for the RR-4R-R robot by means of a multibody model, assessing different performance indices: the maximum torque of the four-bar actuator, the integral control effort, and the mechanical energy. The simulation campaign was carried out considering different trajectory shapes and the influence of finite stop phases, highlighting the potential benefits of exploiting Natural Motion in robotized manufacturing lines. Full article

Soft robots demonstrate great potential for underwater exploration, particularly in tasks such as locomotion and biological sampling in fragile marine habitats. However, developing new forms of interaction with underwater life remains a challenge due to inadequate soft mechanisms for studying the behavior of marine invertebrates. We present a 7-cm in diameter anemone robot (“Soromone”) capable of performing biological sea anemones’ wiggling behavior under the water. Inspired by the body forms of adult cnidaria, we developed a morphing mechanism that serves as both structure and actuator for the Soromone’s behavior using a soft tectonics approach—a multistep, multiscale, heterogeneous soft material fabrication technique. As an actuator, the morphing mechanism can precisely control the Soromone via a fluid system; as a structure, it can reinstate the Soromone’s original shape by incorporating various degrees of stiffness or softness into a single piece of material during fabrication. Our study demonstrates the advantages of applying a Soromone under water, including increasing water flow for enhanced nutrient uptake, waste removal, and gas exchange. This cnidaria-inspired soft robot could potentially be adapted for interaction with coral reef ecosystems by providing a safe environment for diverse species. Future soft robotics design paradigms based on a soft tectonics approach could expand the variability and applicability of soft robots for underwater exploration and habitation. Full article

In recent years, humanoid robots have made substantial advances in motion control and multimodal interaction. However, full-size humanoid robots face significant technical challenges due to their inherent geometric and physical properties, leading to large inertia of humanoid robots and substantial driving forces. These characteristics result in issues such as limited biomimetic capabilities, low control efficiency, and complex system integration, thereby restricting practical applications of full-size humanoid robots in real-world settings. To address these limitations, this paper incorporates a biomimetic design approach that draws inspiration from biological structures and movement mechanisms to enhance the robot’s human-like movements and overall efficiency. The platform introduced in this paper, Loong, is designed to overcome these challenges, offering a practically viable solution for full-size humanoid robots. The research team has innovatively used highly biomimetic joint designs to enhance Loong’s capacity for human-like movements and developed a multi-level control architecture along with a multi-master high-speed real-time communication mechanism that significantly improves its control efficiency. In addition, Loong incorporates a modular system integration strategy, which offers substantial advantages in mass production and maintenance, which improves its adaptability and practical utility for diverse operational environments. The biomimetic approach not only enhances Loong’s functionality but also enables it to perform better in complex and dynamic environments. To validate Loong’s design performance, extensive experimental tests were performed, which demonstrated the robot’s ability to traverse complex terrains such as 13 cm steps and 20° slopes and its competence in object manipulation and transportation. These innovations provide a new design paradigm for the development of full-size humanoid robots while laying a more compatible foundation for the development of hardware platforms for medium- and small-sized humanoid robots. This work makes a significant contribution to the practical deployment of humanoid robots. Full article

In winter, ice is prone to forming on the surface of stay cables in cable-stayed bridges, posing a threat to their structural safety. As temperatures rise, the risk of ice shedding increases, posing a potential hazard to pedestrians and vehicular traffic. At present, de-icing relies mainly on manual operations, which are associated with high safety risks and low efficiency. As a result, the application of robotic systems for stay cable de-icing has become an emerging research focus. A key challenge in robotic de-icing operations lies in the complex and variable surface conditions of ice-covered stay cables, which frequently hinder stable climbing performance. To address this issue, a climbing mechanism was designed, integrating a grooved-track drive and a spring-assisted lead screw clamping system. A fuzzy PID control strategy was implemented to achieve adaptive coordination between the clamping force and climbing speed. Simulink simulations and indoor climbing experiments were performed to verify its effectiveness. The results show that compared with traditional PID control, the fuzzy PID controller reduces the response time by approximately 50%, exhibits better adaptability in icy environments, maintains a climbing speed error within ±1.5%, and improves overall climbing performance. Full article

With the global ageing population and the increasing prevalence of mobility impairments, the demand for effective and comfortable rehabilitation and assistive solutions has grown rapidly. Soft exoskeletons have emerged as a key direction in the development of wearable rehabilitation devices. This review examines how these systems are designed and controlled, as well as how they differ from the rigid exoskeletons that preceded them. Made from flexible fabrics and lightweight components, soft exoskeletons use pneumatic or cable mechanisms to support movement while keeping close contact with the body. Their compliant structure helps to reduce joint stress and makes them more comfortable for long periods of use. The discussion in this paper covers recent work on lower-limb designs, focusing on actuation, power transmission, and human–robot coordination. It also considers the main technical barriers that remain, such as power supply limits, the wear and fatigue of soft materials, and the challenge of achieving accurate tracking performance, low latency, and resilience to external disturbances. Studies reviewed here show that these systems help users regain functionality and improve rehabilitation, while also easing caregivers’ workload. The paper ends by outlining several priorities for future development: lighter mechanical layouts, better energy systems, and adaptive control methods that make soft exoskeletons more practical for everyday use as well as clinical therapy. Full article

Chemical defoliation is an important management practice in cotton to facilitate mechanical harvesting and leaf removal and maintain lint quality. Recent advances in precision agriculture have enabled the development of autonomous robotic platforms with a targeted side-spraying system that can achieve good canopy penetration while preventing soil compaction and crop mechanical damage. A side-wise spraying system allows for application of defoliant at different canopy heights. However, information on the effects of staggered defoliation on cotton fiber quality is limited. Thus, field research was conducted to evaluate the effects of various staggered application timing intervals (15, 10, 8, 5, and 3 days) on fiber quality and compare them with standard over-the-top broadcast applications. Staggered defoliation affected fiber length, with significant differences observed for upper half mean length, fiber length based on weight, and upper quartile length. Fiber maturity was also influenced by staggered defoliation timing, with a 15-day interval resulting in the lowest micronaire and higher immature fiber content. The effects of staggered defoliation on other parameters, such as strength, uniformity, and trash characteristics, varied across locations. The findings highlight the potential of robotic systems for chemical spraying and emphasize the need for further research on more precise and targeted application of defoliants to improve fiber quality. Full article

To address the key challenges in shortest path planning for known static obstacle maps—such as the tendency to converge to local optima in U-shaped/narrow obstacle regions, unbalanced computational efficiency, and suboptimal path quality—this paper presents an enhanced Artificial Lemming Algorithm (DMSALAs). The algorithm integrates a dynamic adaptive mechanism, a hybrid Nelder–Mead method, and a localized perturbation strategy to improve the search performance of ALAs. To validate DMSALAs efficacy, we conducted ablation studies and performance comparisons on the IEEE CEC 2017 and CEC 2022 benchmark suites. Furthermore, we evaluated the algorithm in mobile robot path planning scenarios, including simulated grid maps (10 × 10, 20 × 20, 30 × 30, 40 × 40) and a real-world experimental environment built by our team. These experiments confirm that DMSALAs effectively balance optimization accuracy and practical applicability in path planning problems. Full article