ROBOMECH Journal

http://www.robomechjournal.com/

List of Papers (Total 76)

Precise assembly of ring part with optimized hollowed finger

We deal with a technical issue of assembling a ring part into a shaft part with the clearance of several micrometers by using a robotic manipulator. This issue is difficult because of deformation of a ring part compared with peg-in-hole assembly. We propose a precise assembly method of a ring part with finger shape to solve this issue. We also propose a method to decide design ...

Vision and force/torque integration for realtime estimation of fast-moving object under intermittent contacts

This paper considers the fast and accurate estimation of motion variables of a rigid body object whose movement occurs from intermittent contacts with coordinating manipulators in nonprehensile manipulation tasks. The estimator operates under multiple sensory data including visual, joint torque, joint position and/or tactile measurements which are combined at the lower level to ...

An optimal jerk-stiffness controller for gait pattern generation in rough terrain

In this paper, an optimal jerk stiffness controller is proposed to produce stable gait pattern generation for bipedal robots in rough terrain. The optimal jerk controller is different from the point-to-point and via-Point conventional approaches as trajectories are planned in the Cartesian space system whereas control laws are expressed in the joint space. Its major contribution ...

Mobile robotic cart development to support home oxygen therapy patients: Study on handling interface for mobile robotic cart similar to wheeled walker

We propose a motion control interface system for a mobile robotic cart to support Home Oxygen Therapy (HOT) patients when they go out. Our goal is to realize a mobile robotic cart similar to a wheeled walker that carries oxygen devices in front of patients, because HOT patients whose physical strength has especially waned would like to use such a cart according to the results of ...

An image processing method for changing endoscope direction based on pupil movement

Increased attention has been focused on laparoscopic surgery because of its minimal invasiveness and improved cosmetic properties. However, the procedure of laparoscopic surgery is considerably difficult for surgeons, thus paving the way for the introduction of robotic technology to reduce the surgeon’s burden. Thus, we have developed a single-port surgery assistive robot with a ...

Interaction force estimation on a built-in position sensor for an electrostatic visuo-haptic display

This paper discusses a force sensing method using a built-in position sensing system for an electrostatic visuo-haptic display. The display provides passive haptic feedback on a flat panel visual monitor, such as LCD, using electrostatic friction modulation via multiple contact pads arranged on a surface-insulated transparent electrode. The display demonstrated in previous studies ...

Design of a passive, iso-elastic upper limb exoskeleton for gravity compensation

An additional mechanical mechanism for a passive parallelogram-based exoskeleton arm-support is presented. It consists of several levers and joints and an attached extension coil spring. The additional mechanism has two favourable features. On the one hand it exhibits an almost iso-elastic behaviour whereby the lifting force of the mechanism is constant for a wide working range. ...

Realization and swimming performance of the breaststroke by a swimming humanoid robot

In order to clarify the mechanics of human swimming, a full-body swimming humanoid robot called “SWUMANOID” was developed as an experimental platform for research about human swimming. SWUMANOID had a detailed human body shape, created using three-dimensional scanning and printing equipment, and was developed as an experimental model substituting for human subjects. Not only the ...

TITAN-XIII: sprawling-type quadruped robot with ability of fast and energy-efficient walking

In this paper, we discuss development of a sprawling-type quadruped robot named TITAN-XIII which is capable of high speed and energy efficient walking. We consider a sprawling-type quadruped robot is practical, because of its high stability which comes from the large supporting leg polygon and the low center of gravity. However in previous researches, the speed and the energy ...

“Leg-grope walk”: strategy for walking on fragile irregular slopes as a quadruped robot by force distribution

Problems can often occur when a legged robot attempts to walk on irregular or damaged terrain, such as in search and rescue missions during natural and man-made disasters. In some cases, the ground beneath the robot will collapse because of the pressure of its weight, causing the machine to lose its foothold and topple over. This is a point to which we as designers must pay careful ...

BBot, a hopping two-wheeled robot with active airborne control

Most two-wheeled robots have algorithms that control balance by assuming constant contact with the ground. However, such algorithms cannot confer stability in robots deployed on non-continuous ground terrain. Here, we introduce BBot, a robot that can hop as well as move over stepped terrains. BBot has a two-wheeled lower body platform and a spring-loaded movable upper body mass. ...

Concept proposal and experimental verification of a sidewalk supporting system utilizing a smartphone

In this report, we propose a system to be used as a basis for the efficient gathering of information on sidewalk usage and services for the purpose of building a system to support social infrastructures through which users can move safely and securely. We assume services for extracting and providing useful information to sidewalk users and local governments. Specifically, we ...

On the development of intrinsically-actuated, multisensory dexterous robotic hands

Restoring human hand function by mechatronic means is very challenging in robotics research. In this paper, we first make a brief review on the development of dexterous robotic/prosthetic hands, and then detail our design philosophy of several robot hands. We make a concentration on a type of intrinsically-actuated robot hands, wherein the driving, transmission, and control ...

A method for using one finger to press three separate keys on a three-dimensional keyboard designed to be mounted on a mouse

Here we propose and verify the feasibility of a new keyboard structure for keyboard-mounted mouse. Reducing the distance that fingers move while typing within a three-dimensional (3-D) key arrangement that fits along the fingers is effective for keyboard-mounted mouse, provided that each finger can separately press three different keys. Our objective was to design and test a method ...

Development of a gas/liquid phase change actuator for high temperatures

Gas/liquid phase changes produce large volume changes in working fluids. These volume changes are used as the driving power sources in actuators such as micro-pumps and valves. Most of these actuators are utilized in ordinary temperature environments. However, the temperature range in which the phase change actuator can operate depends on the characteristics of the working fluid. ...

GPU-accelerated surgery simulation for opening a brain fissure

In neurosurgery, dissection and retraction are basic techniques for approaching the site of pathology. These techniques are carefully performed in order to avoid damage to nerve tissues or blood vessels. However, novice surgeons cannot train in such techniques using the haptic cues of existing training systems. This paper proposes a real-time simulation scheme for training in ...

Quality visual landmark selection based on distinctiveness and repeatability

In this study, a method for landmark selection from image streams captured by a camera mounted on a mobile robot is described. To select stable visual landmarks for mobile robots, two measures regarding landmark “visibility” are considered: distinctiveness and repeatability. In the proposed method, several neighboring feature points form a visual landmark and their distinctiveness ...

Surmounting obstacles by arm maneuver for unmanned power shovel

Large debris created after natural disasters restrict access to inner parts of affected regions, and slows down disaster relief operations. Power shovels are often used to clear wreckage but the process can take a lot of time. Moreover, it is dangerous to involve human workers operating heavy machinery in such unstable conditions. To speedup access to inner areas, obstacles can be ...

The mechanical structure of mobile module for new self-configurable intelligent environment

The intelligent space (iSpace) is a representative extensive environmental system. In the iSpace, various Distributed Intelligent Networked Devices (DINDs) are installed for the provision of useful services. Through the input device of the DIND, the iSpace recognizes a spatial situation and user’s demands and then determines the appropriate service based on the recognized ...

Shoulder joint contact force during lever-propelled wheelchair propulsion

The aim of this study was to obtain quantitative results about shoulder contact force during wheelchair lever propulsion when the gear ratio of the lever propulsion mechanism is changing. The effect of the gear ratio on the shoulder contact force was investigated for few different wheelchair loading. For the experiments we designed a special mechatronic wheelchair simulator that ...

Social interactive robot navigation based on human intention analysis from face orientation and human path prediction

Robot navigation in a human environment is challenging because human moves according to many factors such as social rules and the way other moves. By introducing a robot to a human environment, many situations are expected such as human want to interact with robot or humans expect robot to avoid collision. Robot navigation modeling have to take these factors into consideration. ...

Development of an elbow-supporting device to assist standing-up motion

In modern-day Japanese society, which is an aging society, an important issue is how to maintain the physical strength of elderly people. There are many studies to develop devices assisting with standing-up motion, because standing-up motion is a most important motion in daily life. Most of these studies suggested the devices to be placed in front of user’s body or be used on the ...

Active modification of the environment by a robot with construction abilities

Field robots are widely used to accomplish a variety of tasks in many different fields. However, setting of the locomotive ability of these robots at the design phase may prevent the traversal of unknown rough terrain. To address this shortcoming of existing robots, we designed a robot that is able to modify its environment by using polyurethane foam to construct auxiliary ...

Circulation-controlled high-lift wing for small unmanned aerial vehicle

Small unmanned aerial vehicles (SUAVs) have recently attracted considerable research and development interest owing to their small size, portability, and limited operational risk. In SUAVs, the Reynolds number Re is typically very low because they are small and fly at low speeds. The Reynolds number strongly influences the airfoil performance, and at Re = 105, the lift-drag (L/D) ...

Development and analysis of a novel add-on drive mechanism for motorizing a manual wheelchair and its step climbing strategy

In this study, a novel step climbing method for a five-wheeled wheelchair, composed of a manual wheelchair and an active-caster drive system, has been proposed. Because the active-caster has the same configuration as a passive caster, an arbitrary velocity can be generated by controlling its wheel and steering shafts. Thus, the motion of the proposed wheelchair can be controlled in ...