Robotic Hand Evaluation Based On Task Specific Kinematic Requirements
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Robotic Hand Evaluation Based On Task Specific Kinematic Requirements
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Author : Carlos Rafael Neninger
language : en
Publisher:
Release Date : 2011
Robotic Hand Evaluation Based On Task Specific Kinematic Requirements written by Carlos Rafael Neninger and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011 with categories.
With the rise autonomous and robotic systems in field applications, the need for dexterous, highly adaptable end effectors has become a major research topic. Control mechanisms of robotics hands with a high number independent actuators is recognized as a complex, high dimensional problem, with exponentially complex algorithms. However, recent studies have shown that human hand motion possesses very high joint correlation which translates into a set of predefined postures, or synergies. The hand produces a motion using a complementing contribution of multiple joints, called synergies. The similarities place variables onto a common dimensional space, effectively reducing the number of independent variables. In this thesis, we analyze the motion of the hand during a set of objects grasps using mul- tivariate Principal Component Analysis (mPCA) to extract both the principal variables and their correlation during grasping. We introduce the use of Functional PCA (fPCA) primarily on princi- pal components to study the dynamic requirements of the motion. The goal is to defined a set of synergies common and specific to all motions. We expand the analysis by classifying the objects grasps, or tasks, using their functional components, or harmonics over the entire motion. A set of groups are described based on these classification that confirms empirical findings. Lastly, we evaluate the motions generated from the analysis by applying them onto robotic hands. The results from the mPCA and fPCA procedures are used to map the principal components from each motion onto underactuated robotic designs. We produce a viable routine that indicates how the mapping is performed, and finally, we implement the motion generated onto a real hand. The resultant robotic motion was evaluated on how it mimics the human motion.
Human And Robot Hands
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Author : Matteo Bianchi
language : en
Publisher: Springer
Release Date : 2016-02-24
Human And Robot Hands written by Matteo Bianchi and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-02-24 with Computers categories.
This book looks at the common problems both human and robotic hands encounter when controlling the large number of joints, actuators and sensors required to efficiently perform motor tasks such as object exploration, manipulation and grasping. The authors adopt an integrated approach to explore the control of the hand based on sensorimotor synergies that can be applied in both neuroscience and robotics. Hand synergies are based on goal-directed, combined muscle and kinematic activation leading to a reduction of the dimensionality of the motor and sensory space, presenting a highly effective solution for the fast and simplified design of artificial systems. Presented in two parts, the first part, Neuroscience, provides the theoretical and experimental foundations to describe the synergistic organization of the human hand. The second part, Robotics, Models and Sensing Tools, exploits the framework of hand synergies to better control and design robotic hands and haptic/sensing systems/tools, using a reduced number of control inputs/sensors, with the goal of pushing their effectiveness close to the natural one. Human and Robot Hands provides a valuable reference for students, researchers and designers who are interested in the study and design of the artificial hand.
From Robot To Human Grasping Simulation
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Author : Beatriz León
language : en
Publisher: Springer Science & Business Media
Release Date : 2013-09-29
From Robot To Human Grasping Simulation written by Beatriz León and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-09-29 with Technology & Engineering categories.
The human hand and its dexterity in grasping and manipulating objects are some of the hallmarks of the human species. For years, anatomic and biomechanical studies have deepened the understanding of the human hand’s functioning and, in parallel, the robotics community has been working on the design of robotic hands capable of manipulating objects with a performance similar to that of the human hand. However, although many researchers have partially studied various aspects, to date there has been no comprehensive characterization of the human hand’s function for grasping and manipulation of everyday life objects. This monograph explores the hypothesis that the confluence of both scientific fields, the biomechanical study of the human hand and the analysis of robotic manipulation of objects, would greatly benefit and advance both disciplines through simulation. Therefore, in this book, the current knowledge of robotics and biomechanics guides the design and implementation of a simulation framework focused on manipulation interactions that allows the study of the grasp through simulation. As a result, a valuable framework for the study of the grasp, with relevant applications in several fields such as robotics, biomechanics, ergonomics, rehabilitation and medicine, has been made available to these communities.
Conceptual Motorics Generation And Evaluation Of Communicative Robot Gesture
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Author : Maha Salem
language : en
Publisher: Logos Verlag Berlin GmbH
Release Date : 2013-01-15
Conceptual Motorics Generation And Evaluation Of Communicative Robot Gesture written by Maha Salem and has been published by Logos Verlag Berlin GmbH this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-01-15 with Computers categories.
How do humans perceive communicative gesture behavior in robots? Although gesture is a crucial feature of social interaction, this research question is still largely unexplored in the field of social robotics. The present work thus sets out to investigate how robot gesture can be used to design and realize more natural and human-like communication capabilities for social robots. The adopted approach is twofold. Firstly, the technical challenges encountered when implementing a speech-gesture generation model on a robotic platform are addressed. The realized framework enables a humanoid robot to produce finely synchronized speech and co-verbal hand and arm gestures. In contrast to many existing systems, these gestures are not limited to a predefined repertoire of motor actions but are flexibly generated at run-time. Secondly, the achieved expressiveness is exploited in controlled experiments to gain a deeper understanding of how robot gesture might impact human experience and evaluation of human-robot interaction. The findings reveal that participants evaluate the robot more positively when non-verbal behaviors such as hand and arm gestures are displayed along with speech. Surprisingly, this effect was particularly pronounced when the robot's gesturing behavior was partly incongruent with speech. These findings contribute new insights into human perception of communicative robot gesture and ultimately support the presented approach of endowing social robots with such non-verbal behaviors.
Design And Analysis Of Selectively Compliant Underactuated Robotic Hands
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Author : Daniel McConnell Aukes
language : en
Publisher:
Release Date : 2013
Design And Analysis Of Selectively Compliant Underactuated Robotic Hands written by Daniel McConnell Aukes and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013 with categories.
A balance between complexity and functional capabilities has been explored since the first years of multi-fingered robotic hands. In an age where DC motors are the de facto standard for actuation in robotics, the problem of needing to operate in a human-sized world puts severe constraints and limits on actuator size and placement in hands. While many successful examples of fully-actuated designs exist, these designs generally reflect the trade-offs and sacrifices imposed by such constraints. In that light, underactuation, employing fewer actuators than degrees of freedom, has gained attention as a method to achieve many of the functional capabilities of fully-actuated hands with fewer constraints on actuators and transmissions. Underactuated hands also have distinct advantages over fully actuated hands, especially when used on mobile robots, due to their reduced weight and control complexity, and the potential for increased robustness. However there is typically a trade-off in terms of reduced controllability or manipulability when handling grasped objects. When designing underactuated hands, extra care must be taken during the design process to ensure that such hands will grasp a wide range of object sizes and shapes robustly, particularly when friction is low and uncertain. Despite these concerns, underactuated hands have become increasingly popular in robotic and prosthetic applications. Robotic hands are also a venue in which novel, secondary mechanisms are often found. Devices such as differentials, valves, clutches, and low-power, shape-changing actuators have been used to improve grasp robustness on a wider range of objects and allow users more grasping and manipulation options. However, the location and placement of secondary actuators has not been studied in a comprehensive way with respect to the types of actuation methods possible. This is due in part to the lack of general analytic tools which enable designers to rapidly investigate their designs prior to the prototyping stage. Additionally, much of the analysis in the field of robotic hands is done once basic design choices have already been made, making subsequent analyses specific only to a set of design parameters specific to those choices. The same point can be made regarding quality metrics, which suffer from fragmented utilization due to the many different emphases placed on different design requirements. The primary goal of this thesis is to provide a framework for the analysis and evaluation of underactuated robotic hands. The first chapter discusses both the broad motivations for studying robotic hands and the specific contributions of this thesis. The next chapter reviews relevant designs from literature, analyses that have accompanied them, uses of secondary devices in underactuated hands, and the progress that dynamics simulators have made towards representing reality. In the next chapters, the issues related to modeling abstract, generic hand designs is discussed, and a kinematic framework is introduced to derive the force relationships between actuator and grasped object for many mechanisms commonly encountered in underactuated hands. Chapter 6 discusses difficulties associated with solving static force equations, and several methods are introduced to accomplish this. The last of these options relies on three-dimensional rigid-body dynamic simulations to evaluate the performance of compliant, underactuated mechanisms which may encounter conditions such as coulomb friction in contact and and damping at the joints. In the next chapters, these force relationships are derived and discussed for specific hand designs in the context of a force-field representation, and several performance metrics are derived which measure a hand's ability both to acquire and retain objects. The benefits of secondary actuation mechanisms are then discussed with two specific examples. First is the SRI/Stanford/Meka hand, a tendon-driven, compliant, underactuated hand capable of locking individual joints. Second is a mechanism implemented on the Seabed Hand, which increases the range of graspable objects and allows users to selectively change grasp properties based on their specific control needs. Finally, the impacts of friction are discussed, and the trends from simulations are compared with experimental data. From these experiments the benefits of secondary mechanisms can be demonstrated in a frictional world as well.
Springer Handbook Of Robotics
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Author : Bruno Siciliano
language : en
Publisher: Springer
Release Date : 2016-07-27
Springer Handbook Of Robotics written by Bruno Siciliano and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-07-27 with Technology & Engineering categories.
The second edition of this handbook provides a state-of-the-art overview on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition of the handbook, edited by two internationally renowned scientists with the support of an outstanding team of seven part editors and more than 200 authors, continues to be an authoritative reference for robotics researchers, newcomers to the field, and scholars from related disciplines. The contents have been restructured to achieve four main objectives: the enlargement of foundational topics for robotics, the enlightenment of design of various types of robotic systems, the extension of the treatment on robots moving in the environment, and the enrichment of advanced robotics applications. Further to an extensive update, fifteen new chapters have been introduced on emerging topics, and a new generation of authors have joined the handbook’s team. A novel addition to the second edition is a comprehensive collection of multimedia references to more than 700 videos, which bring valuable insight into the contents. The videos can be viewed directly augmented into the text with a smartphone or tablet using a unique and specially designed app. Springer Handbook of Robotics Multimedia Extension Portal: http://handbookofrobotics.org/
A Robotic Hand That Utilizes Ergonomic Evaluation As Feedback To Improve Human Robot Collaboration In Soldering Applications
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Author : Moses Teddy Ort
language : en
Publisher:
Release Date : 2016
A Robotic Hand That Utilizes Ergonomic Evaluation As Feedback To Improve Human Robot Collaboration In Soldering Applications written by Moses Teddy Ort 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.
People never seem to have enough hands. There are many tools that aim to address this challenge, ranging from the ubiquitous benchtop vise to the "helping hands" commonly used for soldering. However, these tools do not measure up to their human counterparts. They cannot adjust the position or orientation of the workpiece to suit a particular task which can cause workers to maintain unhealthy postures that are detrimental to their long-term health. This thesis addresses this shortcoming with a robotic arm that utilizes a gripper to grasp and hold a workpiece during a soldering task. The robot uses a Microsoft Kinect sensor to continuously analyze the posture of the human worker and calculate a score based on the RULA (Rapid Upper Limb Assessment), an objective measure used in the ergonomics field to evaluate ergonomic working postures. The robot adjusts the workpiece in order to optimize the RULA score using an adaptive simulated annealing algorithm to balance the exploration and exploitation phases of the optimization process. Initial testing indicates that the robot can consistently find positions which improve the RULA ranking by 24.6% of the measured range. This project demonstrates that human robot collaboration can be improved by utilizing sensors to evaluate the needs of a human partner and adjust the robot behavior accordingly.
Performance Evaluation And Benchmarking Of Intelligent Systems
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Author : Raj Madhavan
language : en
Publisher: Springer Science & Business Media
Release Date : 2010-04-29
Performance Evaluation And Benchmarking Of Intelligent Systems written by Raj Madhavan and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-04-29 with Computers categories.
To design and develop capable, dependable, and affordable intelligent systems, their performance must be measurable. Scienti?c methodologies for standardization and benchmarking are crucial for quantitatively evaluating the performance of eme- ing robotic and intelligent systems’ technologies. There is currently no accepted standard for quantitatively measuring the performance of these systems against user-de?ned requirements; and furthermore, there is no consensus on what obj- tive evaluation procedures need to be followed to understand the performance of these systems. The lack of reproducible and repeatable test methods has precluded researchers working towards a common goal from exchanging and communic- ing results, inter-comparing system performance, and leveraging previous work that could otherwise avoid duplication and expedite technology transfer. Currently, this lack of cohesion in the community hinders progress in many domains, such as m- ufacturing, service, healthcare, and security. By providing the research community with access to standardized tools, reference data sets, and open source libraries of solutions, researchers and consumers will be able to evaluate the cost and be- ?ts associated with intelligent systems and associated technologies. In this vein, the edited book volume addresses performance evaluation and metrics for intel- gent systems, in general, while emphasizing the need and solutions for standardized methods. To the knowledge of the editors, there is not a single book on the market that is solely dedicated to the subject of performance evaluation and benchmarking of intelligent systems.
Robot Hand Positioning And Grasping Using Vision
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Author : Kanako Miura
language : en
Publisher:
Release Date : 2004
Robot Hand Positioning And Grasping Using Vision written by Kanako Miura and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2004 with categories.
Recently, significant developments have been made in the design of practical robot manipulators and hands that can perform various manipulation tasks required in different fields. However, most industrial robots have been designed to perform only specific movements based on a priori knowledge of the object to be manipulated. Therefore they cannot accomplish tasks when the target object (e.g., object mass, shape, or position) is unknown, or when the relative position of the vision system with respect to the robot is unknown.In this thesis, the total grasping task is investigated. The manipulator has an uncalibrated camera system and the simple precision gripper has two fingers on the end-effector.Then, the problem is divided into two tasks; the positioning task of the manipulator, and the grasping task of the robot hand.Most of the previous works on visual servoing assume that the kinematic model of the robot, a model the object, and the camera intrinsic parameters are known.They would fail if the robot and the vision system were not fully known. We employ an indirect (look-and-move) scheme for the versatility and stability brought by the internal joint controllers. A novel approach for uncalibrated and model-less visual servoing using a modified simplex iterative search method is proposed. The basic idea behind this method is to compare the value of the objective function in several configurations and to move to the next configurations in order to decrease this value. Demonstrations with a 6DOF industrial manipulator show the efficiency of this method.Human have the ability to touch an object without inducing large displacements even if it is light and could easily fall. Though such skill is very important when the object is fragile, few investigations have been made so far on soft grasping. Furthermore, it is not applied yet to control laws of robot hands. In this thesis, experimental studies are carried out on the human grasping with the index finger and the thumb (precision grasp). The features of contact motions given by the measurement of human motions are applied to a robot grasping task. The " soft " contact motion is demonstrated with a robot hand with two fingers controlled individually. Each finger has two pairs of strain gauges as force sensors. A vision system is also available with a camera for real-time visual feedback.
Encyclopedia Of Medical Robotics The In 4 Volumes
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Author :
language : en
Publisher: World Scientific
Release Date : 2018-08-28
Encyclopedia Of Medical Robotics The In 4 Volumes written by and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-08-28 with Medical categories.
The Encyclopedia of Medical Robotics combines contributions in four distinct areas of Medical robotics, namely: Minimally Invasive Surgical Robotics, Micro and Nano Robotics in Medicine, Image-guided Surgical Procedures and Interventions, and Rehabilitation Robotics. The volume on Minimally Invasive Surgical Robotics focuses on robotic technologies geared towards challenges and opportunities in minimally invasive surgery and the research, design, implementation and clinical use of minimally invasive robotic systems. The volume on Micro and Nano robotics in Medicine is dedicated to research activities in an area of emerging interdisciplinary technology that is raising new scientific challenges and promising revolutionary advancement in applications such as medicine and biology. The size and range of these systems are at or below the micrometer scale and comprise assemblies of micro and nanoscale components. The volume on Image-guided Surgical Procedures and Interventions focuses primarily on the use of image guidance during surgical procedures and the challenges posed by various imaging environments and how they related to the design and development of robotic systems as well as their clinical applications. This volume also has significant contributions from the clinical viewpoint on some of the challenges in the domain of image-guided interventions. Finally, the volume on Rehabilitation Robotics is dedicated to the state-of-the-art of an emerging interdisciplinary field where robotics, sensors, and feedback are used in novel ways to re-learn, improve, or restore functional movements in humans.Volume 1, Minimally Invasive Surgical Robotics, focuses on an area of robotic applications that was established in the late 1990s, after the first robotics-assisted minimally invasive surgical procedure. This area has since received significant attention from industry and researchers. The teleoperated and ergonomic features of these robotic systems for minimally invasive surgery (MIS) have been able to reduce or eliminate most of the drawbacks of conventional (laparoscopic) MIS. Robotics-assisted MIS procedures have been conducted on over 3 million patients to date — primarily in the areas of urology, gynecology and general surgery using the FDA approved da Vinci® surgical system. The significant commercial and clinical success of the da Vinci® system has resulted in substantial research activity in recent years to reduce invasiveness, increase dexterity, provide additional features such as image guidance and haptic feedback, reduce size and cost, increase portability, and address specific clinical procedures. The area of robotic MIS is therefore in a state of rapid growth fueled by new developments in technologies such as continuum robotics, smart materials, sensing and actuation, and haptics and teleoperation. An important need arising from the incorporation of robotic technology for surgery is that of training in the appropriate use of the technology, and in the assessment of acquired skills. This volume covers the topics mentioned above in four sections. The first section gives an overview of the evolution and current state the da Vinci® system and clinical perspectives from three groups who use it on a regular basis. The second focuses on the research, and describes a number of new developments in surgical robotics that are likely to be the basis for the next generation of robotic MIS systems. The third deals with two important aspects of surgical robotic systems — teleoperation and haptics (the sense of touch). Technology for implementing the latter in a clinical setting is still very much at the research stage. The fourth section focuses on surgical training and skills assessment necessitated by the novelty and complexity of the technologies involved and the need to provide reliable and efficient training and objective assessment in the use of robotic MIS systems.In Volume 2, Micro and Nano Robotics in Medicine, a brief historical overview of the field of medical nanorobotics as well as the state-of-the-art in the field is presented in the introductory chapter. It covers the various types of nanorobotic systems, their applications and future directions in this field. The volume is divided into three themes related to medical applications. The first theme describes the main challenges of microrobotic design for propulsion in vascular media. Such nanoscale robotic agents are envisioned to revolutionize medicine by enabling minimally invasive diagnostic and therapeutic procedures. To be useful, nanorobots must be operated in complex biological fluids and tissues, which are often difficult to penetrate. In this section, a collection of four papers review the potential medical applications of motile nanorobots, catalytic-based propelling agents, biologically-inspired microrobots and nanoscale bacteria-enabled autonomous drug delivery systems. The second theme relates to the use of micro and nanorobots inside the body for drug-delivery and surgical applications. A collection of six chapters is presented in this segment. The first chapter reviews the different robot structures for three different types of surgery, namely laparoscopy, catheterization, and ophthalmic surgery. It highlights the progress of surgical microrobotics toward intracorporeally navigated mechanisms for ultra-minimally invasive interventions. Then, the design of different magnetic actuation platforms used in micro and nanorobotics are described. An overview of magnetic actuation-based control methods for microrobots, with eventually biomedical applications, is also covered in this segment. The third theme discusses the various nanomanipulation strategies that are currently used in biomedicine for cell characterization, injection, fusion and engineering. In-vitro (3D) cell culture has received increasing attention since it has been discovered to provide a better simulation environment of in-vivo cell growth. Nowadays, the rapid progress of robotic technology paves a new path for the highly controllable and flexible 3D cell assembly. One chapter in this segment discusses the applications of micro-nano robotic techniques for 3D cell culture using engineering approaches. Because cell fusion is important in numerous biological events and applications, such as tissue regeneration and cell reprogramming, a chapter on robotic-tweezers cell manipulation system to achieve precise laser-induced cell fusion using optical trapping has been included in this volume. Finally, the segment ends with a chapter on the use of novel MEMS-based characterization of micro-scale tissues instead of mechanical characterization for cell lines studies.Volume 3, Image-guided Surgical Procedures and Interventions, focuses on several aspects ranging from understanding the challenges and opportunities in this domain, to imaging technologies, to image-guided robotic systems for clinical applications. The volume includes several contributions in the area of imaging in the areas of X-Ray fluoroscopy, CT, PET, MR Imaging, Ultrasound imaging, and optical coherence tomography. Ultrasound-based diagnostics and therapeutics as well as ultrasound-guided planning and navigation are also included in this volume in addition to multi-modal imaging techniques and its applications to surgery and various interventions. The application of multi-modal imaging and fusion in the area of prostate biopsy is also covered. Imaging modality compatible robotic systems, sensors and actuator technologies for use in the MRI environment are also included in this work., as is the development of the framework incorporating image-guided modeling for surgery and intervention. Finally, there are several chapters in the clinical applications domain covering cochlear implant surgery, neurosurgery, breast biopsy, prostate cancer treatment, endovascular interventions, neurovascular interventions, robotic capsule endoscopy, and MRI-guided neurosurgical procedures and interventions.Volume 4, Rehabilitation Robotics, is dedicated to the state-of-the-art of an emerging interdisciplinary field where robotics, sensors, and feedback are used in novel ways to relearn, improve, or restore functional movements in humans. This volume attempts to cover a number of topics relevant to the field. The first section addresses an important activity in our daily lives: walking, where the neuromuscular system orchestrates the gait, posture, and balance. Conditions such as stroke, vestibular deficits, or old age impair this important activity. Three chapters on robotic training, gait rehabilitation, and cooperative orthoses describe the current works in the field to address this issue. The second section covers the significant advances in and novel designs of soft actuators and wearable systems that have emerged in the area of prosthetic lower limbs and ankles in recent years, which offer potential for both rehabilitation and human augmentation. These are described in two chapters. The next section addresses an important emphasis in the field of medicine today that strives to bring rehabilitation out from the clinic into the home environment, so that these medical aids are more readily available to users. The current state-of-the-art in this field is described in a chapter. The last section focuses on rehab devices for the pediatric population. Their impairments are life-long and rehabilitation robotics can have an even bigger impact during their lifespan. In recent years, a number of new developments have been made to promote mobility, socialization, and rehabilitation among the very young: the infants and toddlers. These aspects are summarized in two chapters of this volume.