Analysis Design And Control Of Supernumerary Robotic Limbs Coupled To A Human
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Analysis Design And Control Of Supernumerary Robotic Limbs Coupled To A Human
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Author : Phillip Howard Daniel
language : en
Publisher:
Release Date : 2022
Analysis Design And Control Of Supernumerary Robotic Limbs Coupled To A Human written by Phillip Howard Daniel and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022 with categories.
Musculoskeletal disorders (MSDs) are a prevalent type of injury in many careers such as ship and aircraft building, farming, and construction. These injuries cost companies and governments a great deal of money, and cause workers a great deal of discomfort. This thesis investigates how a new type of wearable robot can reduce the risk of contracting a MSD.
Augmenting Human Manipulation Abilities With Supernumerary Robotic Limbs
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Author : Irfan Hussain
language : en
Publisher: Springer Nature
Release Date : 2020-07-17
Augmenting Human Manipulation Abilities With Supernumerary Robotic Limbs written by Irfan Hussain and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-07-17 with Technology & Engineering categories.
This book offers a timely report on an emerging topic in the field of wearable assistive technology: the design and development of robotic extra fingers. After a concise review of the state of the art and a description of earlier prototypes, it discusses the authors’ efforts to address issues such as portability and wearability of the devices, including strategies to reduce fatigue and to integrate the motion of the extra fingers with that of the human hand. The book also explores optimized control algorithms and the design of wearable sensorimotor interfaces, and presents a set of tests carried out on healthy subjects and chronic stroke patients. Merging concepts from robotics, biomechanics, human factors and control theory and offering an overview of supernumerary robotic fingers, including the challenges, this book will inspire researchers involved in the development of wearable robotic devices and interfaces based on the principles of wearability, safety, ergonomics and user comfort.
Robotics Research
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Author : Antonio Bicchi
language : en
Publisher: Springer
Release Date : 2017-07-25
Robotics Research written by Antonio Bicchi and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-07-25 with Technology & Engineering categories.
ISRR, the "International Symposium on Robotics Research", is one of robotics pioneering Symposia, which has established over the past two decades some of the field's most fundamental and lasting contributions. This book presents the results of the seventeenth edition of "Robotics Research" ISRR15, offering a collection of a broad range of topics in robotics. The content of the contributions provides a wide coverage of the current state of robotics research.: the advances and challenges in its theoretical foundation and technology basis, and the developments in its traditional and new emerging areas of applications. The diversity, novelty, and span of the work unfolding in these areas reveal the field's increased maturity and expanded scope and define the state of the art of robotics and its future direction.
Social Robotics
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Author : Shuzhi Sam Ge
language : en
Publisher: Springer Nature
Release Date : 2024-12-24
Social Robotics written by Shuzhi Sam Ge and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-12-24 with Computers categories.
This book constitutes the refereed proceedings of the 16th International Conference on Social Robotics, ICSR + BioMed 2024, held in Singapore during August 16-18, 2024. The 28 full papers included in this book were carefully reviewed and selected from 102 submissions. The ICSR + BioMed 2024 conference emphasized interdisciplinary innovations in Bio-inspired, Biomedical, and Surgical Robotics.
Wearable Robots And Sensorimotor Interfaces Augmentation Rehabilitation Assistance Or Substitution Of Human Sensorimotor Function
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Author : Irfan Hussain
language : en
Publisher: Frontiers Media SA
Release Date : 2022-07-18
Wearable Robots And Sensorimotor Interfaces Augmentation Rehabilitation Assistance Or Substitution Of Human Sensorimotor Function written by Irfan Hussain and has been published by Frontiers Media SA this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-07-18 with Science categories.
Advances In Italian Robotics
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Author : Giulio Rosati
language : en
Publisher: MDPI
Release Date : 2020-07-03
Advances In Italian Robotics written by Giulio Rosati and has been published by MDPI this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-07-03 with Technology & Engineering categories.
This book disseminates the latest research achievements, findings, and ideas in the robotics field, with particular attention to the Italian scenario. Book coverage includes topics that are related to the theory, design, practice, and applications of robots, such as robot design and kinematics, dynamics of robots and multi-body systems, linkages and manipulators, control of robotic systems, trajectory planning and optimization, innovative robots and applications, industrial robotics, collaborative robotics, medical robotics, assistive robotics, and service robotics. Book contributions include, but are not limited to, revised and substantially extended versions of selected papers that have been presented at the 2nd International Conference of IFToMM Italy (IFIT 2018).
Dissertation Abstracts International
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Author :
language : en
Publisher:
Release Date : 1986
Dissertation Abstracts International written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1986 with Dissertations, Academic categories.
Design And Control Of Supernumerary Robotic Limbs
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Author : Federico Parietti
language : en
Publisher:
Release Date : 2016
Design And Control Of Supernumerary Robotic Limbs written by Federico Parietti and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016 with categories.
Humans possess the remarkable ability to control their four natural limbs in a voluntary, accurate and independent manner. The simultaneous use of two or more limbs allows humans to learn and robustly perform a wide range of complex tasks. Since the use of multiple limbs enables humans to master advanced motor skills, it would be interesting to study whether having additional limbs would enable users to expand their skill set beyond its natural limits. Inspired by this vision, we propose a new form of human augmentation: a wearable robot that augments its user by providing him with an additional set of robotic limbs. We named this new device Supernumerary Robotic Limbs (SRL). However, humans have never had the possibility to control additional, powered limbs besides their natural arms and legs. The main theme of this thesis, besides realizing a prototype of the robot and proving its usefulness in realworld tasks, is demonstrating that humans can voluntarily control additional limbs as if they were a part of their own body. We realized a lightweight (3.5 kg), comfortable prototype of the SRL that can be easily worn by an unassisted user. Two robotic limbs can assist the user in both manufacturing and locomotion tasks. We created control strategies that take advantage of the independence of the robotic limbs, enabling them to provide optimal assistance in specific tasks such as weight support, body stabilization, using powered tools, sitting/standing and dynamic walking. Finally, we developed an EMG-based control interface that enables users to voluntarily control the motion of the robotic limbs, without interfering with the posture of the rest of the body. The new augmentation technology presented in this thesis opens up new possibilities in the field of wearable robotics. The voluntary control of additional robotic limbs falls within the range of motor skills that humans can learn, and enables the acquisition of a new set of complex skills that would not be achievable using only the natural body..
Design And Control Of Supernumerary Robotic Limbs For Near Ground Work
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Author : Daniel Kurek
language : en
Publisher:
Release Date : 2017
Design And Control Of Supernumerary Robotic Limbs For Near Ground Work written by Daniel Kurek and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017 with categories.
Supernumerary Robotic Limbs (SRLs) are a recent form of robot that augment natural human abilities through the addition of body-mounted robotic appendages which can move independently of the wearer. This thesis provides a detailed analysis of the MantisBot, an SRL morphology that provides a wearer with two torso-mounted limbs that support the body in crawling- and kneeling-like positions, such that the wearer's natural arms are free to do useful work near the ground. First, the concept and its motivations are discussed, followed by a biomechanical analysis of the human-robot system. Two full-scale prototypes are then introduced, and control laws used in supporting a wearer's body both statically using impedance control, and dynamically using predictive models of natural crawling gaits, are developed. Finally, the system is experimentally validated, and it is concluded that SRLs for near-ground work are a valid and useful tool for improving worker comfort and productivity.
Contributions Of The Human Operator To Supernumerary Robotic Limbs
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Author : Jacob William Guggenheim
language : en
Publisher:
Release Date : 2020
Contributions Of The Human Operator To Supernumerary Robotic Limbs written by Jacob William Guggenheim and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020 with categories.
An expanding literature base has applied Supernumerary Robotic Limbs (Superlimbs) to fields as diverse as heavy industry, robotic surgery, and assistive technology. While the list of applications has grown, and the designs have become more diverse, the research community has focused almost exclusively on the robotic system's role in augmenting the humans capabilities. This represents only one side of the issue; little research has explored the role of the human operator. This thesis represents the first in-depth exploration of the humans contributions to the Superlimb-human system. We began by examining the control strategy of Superlimbs by asking whether fully manual control of the Superlimbs was viable when the human operator was asked to perform simultaneous and independent tasks with both their robotic and natural limbs. Although we found that the human operator was able to control all four limbs-two robotic, two natural-simultaneously, we found that the human operator performed worse with their natural limbs when controlling all four limbs as compared to when the human operator was only controlling their natural limbs. Thus, when designing Superlimbs for a task set that requires the human and the robot to perform simultaneous independent tasks, this study points to the need for reducing the number of Superlimb degrees of freedom (DOFs) the human must manually control either through design or control. In order to achieve this reduction, we next exploited the high redundancy and flexibility of the human body. First, we proposed a methodology for reduced-actuator Superlimbs by exploiting the human operators' ability to manipulate the base of the Superlimb. Based upon this methodology, we realized a lightweight Superlimb that could assist a human operator by opening a door when the human operator's hands are busy. Second, we proposed a novel control input methodology for communicating a rich variety of commands to the Superlimbs while both hands are busy. Based upon this methodology, and in combination with an intermittent control structure, we controlled the reduced-actuator Superlimb described above with action primitives to assist a human operator by opening a door when the human operator was holding a large box. Finally, as the Superlimb's state changes, that change is reflected as a change in the forces and torques felt by the human operator at the base of the Superlimb. We found that this inherent haptic feedback allowed the operator to both perform closed-loop manually control of the force output of a Superlimb and to supervise the autonomous actions of a Superlimb. In sum, this thesis explores how Superlimbs can be designed to exploit the benefits while limiting the challenges of being attached to a human operator.