相关论文: Closed-loop Position Control of a Pediatric Soft R…
This paper presents design, fabrication and control of a compliant 2D manipulator, a so called soft actuator. Our focus is on fiber-reinforced elastomer actuators driven by a constant pressure hydraulic supply and modulated on/off valves.…
For successful object manipulation with robotic hands, it is important to ensure that the object remains in the grasp at all times. In addition to grasp constraints associated with slipping and singular hand configurations, excessive…
Precise and high-fidelity force control is critical for new generations of robots that interact with humans and unknown environments. Mobile robots, such as wearable devices and legged robots, must also be lightweight to accomplish their…
Humans can effortlessly perform very complex, dexterous manipulation tasks by reacting to sensor observations. In contrast, robots can not perform reactive manipulation and they mostly operate in open-loop while interacting with their…
This manuscript presents a model of compliant contacts for time-critical humanoid robot motion control. The proposed model considers the environment as a continuum of spring-damper systems, which allows us to compute the equivalent contact…
The sit-to-stand movement is a key feature for wide adoption of powered lower limb orthoses for patients with complete paraplegia. In this paper we study the control of the ascending phase of the sit-to-stand movement for a minimally…
Wearable robots are designed to be worn on the human body. Taking advantage of their physical form, various applications for wearable robots are being considered. This study proposes a wearable robot worn on the abdomen and a new…
The vision of creating entirely-soft robots capable of performing complex tasks will be accomplished only when the controllers required for autonomous operation can be fully implemented on soft components. Despite recent advances in…
This paper presents a control interface to translate the residual body motions of individuals living with severe disabilities, into control commands for body-machine interaction. A custom, wireless, wearable multi-sensor network is used to…
Recent advances in teleoperation have enabled sophisticated manipulation of dexterous robotic hands, with most systems concentrating on guiding finger positions to achieve desired grasp configurations. However, while accurate finger…
Control of soft robotic manipulators remains a challenge for designs with advanced capabilities and novel actuation. Two significant limitations are multi-axis, three-dimensional motion of soft bodies alongside actuator dynamics and…
Manipulating deformable objects in robotic cells is often costly and not widely accessible. However, the use of localized pneumatic gripping systems can enhance accessibility. Current methods that use pneumatic grippers to handle deformable…
Enabling reaching capabilities in highly redundant continuum robot arms is an active area of research. Existing solutions comprise of task-space controllers, whose proper functioning is still limited to laboratory environments. In contrast,…
We present a planning and control framework for physics-based manipulation under uncertainty. The key idea is to interleave robust open-loop execution with closed-loop control. We derive robustness metrics through contraction theory. We use…
The rapid advancement in physical human-robot interaction (HRI) has accelerated the development of soft robot designs and controllers. Controlling soft robots, especially soft hand grasping, is challenging due to their continuous…
During the conceptual and prototype design stage of an industrial product, it is crucial to take assembly/disassembly and maintenance operations in advance. A well-designed system should enable relatively easy access of operating…
This paper presents a novel fabric-based thermal-haptic interface for virtual reality and teleoperation. It integrates pneumatic actuation and conductive fabric with an innovative ultra-lightweight design, achieving only 2~g for each finger…
Haptic interaction is essential for the dynamic dexterity of animals, which seamlessly switch from an impedance to an admittance behaviour using the force feedback from their proprioception. However, this ability is extremely challenging to…
The impact forces during switching operations of short-stroke actuators may cause bouncing, audible noise and mechanical wear. The application of soft-landing control strategies to these devices aims at minimizing the impact velocities of…
Infants' spontaneous and voluntary movements mirror developmental integrity of brain networks since they require coordinated activation of multiple sites in the central nervous system. Accordingly, early detection of infants with atypical…