Search results

The paper seeks to present a new generation of torque‐controlled light‐weight robots (LWR) developed at the Institute of Robotics and Mechatronics of the German Aerospace Center.

An integrated mechatronic design approach for LWR is presented. Owing to the partially unknown properties of the environment, robustness of planning and control with respect to environmental variations is crucial. Robustness is achieved in this context through sensor redundancy and passivity‐based control. In the DLR root concept, joint torque sensing plays a central role.

In order to act in unstructured environments and interact with humans, the robots have design features and control/software functionalities which distinguish them from classical robots, such as: load‐to‐weight ratio of 1:1, torque sensing in the joints, active vibration damping, sensitive collision detection, compliant control on joint and Cartesian level.

The DLR robots are excellent research platforms for experimentation of advanced robotics algorithms. Space and medical robotics are further areas for which these robots were designed and hopefully will be applied within the next years. Potential industrial application fields are the fast automatic assembly as well as manufacturing activities done in cooperation with humans (industrial robot assistant). The described functionalities are of course highly relevant also for the potentially huge market of service robotics. The LWR technology was transferred to KUKA Roboter GmbH, which will bring the first arms on the market in the near future.

This paper introduces a new type of LWR with torque sensing in each joint and describes a consistent approach for using these sensors for manipulation in human environments. To the best of one's knowledge, the first systematic experimental evaluation of possible injuries during robot‐human crashes using standardized testing facilities is presented.

Surgical robotics can be divided into two groups: specialized and versatile systems. Versatile systems can be used in different surgical applications, control architectures and operating room set‐ups, but often still based on the adaptation of industrial robots. Space consumption, safety and adequacy of industrial robots in the unstructured and crowded environment of an operating room and in close human robot interaction are at least questionable. The purpose of this paper is to describe the DLR MIRO, a new versatile lightweight robot for surgical applications.

The design approach of the DLR MIRO robot focuses on compact, slim and lightweight design to assist the surgeon directly at the operating table without interference. Significantly reduced accelerated masses (total weight 10 kg) enhance the safety of the system during close interaction with patient and user. Additionally, MIRO integrates torque‐sensing capabilities to enable close interaction with human beings in unstructured environments.

A payload of 30 N, optimized kinematics and workspace for surgery enable a broad range of possible applications. Offering position, torque and impedance control on Cartesian and joint level, the robot can be integrated easily into telepresence (e.g. endoscopic surgery), autonomous or soft robotics applications, with one or multiple arms.

This paper considers lightweight and compact design as important design issues in robotic assistance systems for surgery.

The purpose of this paper is to develop a robotic tooth brushing simulator mimicking realistic tooth brushing motions, thereby facilitating greater understanding of the generation of realistic tooth brushing motion for optimal design of toothbrushes.

Tooth brushing motions were measured via a motion capture system. Different motion patterns of brushing were analysed. A series of elliptical motion segments were generated by interpolating ellipse‐like trajectories. Furthermore, a path generation algorithm for brushing simulation was proposed. A path planning system incorporating robot motion control was developed to simulate realistic tooth brushing. The generality and efficiency of the proposed algorithm was demonstrated through simulation and experimental results.

The interpolation of ellipse‐like trajectories can generate elliptical motion segments. Furthermore, realistic tooth brushing can be achieved by integrating the elliptical motion segments into the path generated from the surfaces of teeth. The brushing simulator demonstrated good reproducibility of clinically standardized tooth brushing.

A robotic toothbrush assessment system is a potential application to the robotic tooth brushing simulator by incorporating control of brushing variables, including brushing pressure, speed and temperature.

This study demonstrates the feasibility of using robotic simulation techniques towards improved realistic human tooth brushing motions simulation for optimal design of tooth brushes.

The purpose of this paper is to propose the use of a virtual reality (VR)-based approach to improve teacher education and life-long professional development. Through constant training in real-life based situations but within a safe three-dimensional virtual school environment, teachers are given the opportunity to experience and learn how to react to different types of incidents that may take place in a school environment.

The current paper presents the design cycle that was followed for the implementation of the VR teacher training system. The effectiveness of the proposed approach is demonstrated with a case study that aimed to promote teachers’ understanding of student’s problematic situations related to substance use. As part of the experimental investigation, the impact of the VR system on participants’ emotions and mood states is evaluated through Electroencephalogram (EEG) measurements, heart rate (HR) recordings and self-reported data.

Results indicate significant changes to participant’s negative emotional and mood states, suggesting that the scenario and the VR experience had a strong impact on them. Moreover, participants’ HR was increased during the experiment, while the analysis of the EEG signal indicated that the participants experienced a stressful situation that could justify the change in their negative emotions and mood states.

The proposed VR-based approach aims to provide an innovative framework to teacher education and the related training methodology. In the long-term, the proposed VR system aims to form a new paradigm of teacher training, an alternative safe method that will allow user-teachers to learn through trial and error techniques that reflect real-life situations within a three-dimensional school space and without the risk of harming real students. To the best of our knowledge this is one of the first systematic attempts to use a VR-based methodology to address real teachers’ needs. The development of the VR application is linked to both strong theoretical foundations in education derived from the literature but also from real teachers’ problems and requirements derived from an extensive literature analysis, survey and interviews with experts including teachers, school counselors and psychologists. The VR tool addresses specific teachers’ competences as outcome, after an extensive documentation of existing Teachers’ Competence Models and significant guidance by experts who pointed specific competencies of primary importance to teachers.

In her popular Development of Economic Analysis, Ingrid Rima writes early on of the “compatibility” of “emphasis on the state as an instrument to achieve socially optimal results…with what has come to be called social economics”. Subsequently (1978, p. 322; 1986, p. 396), she treats of J.M. Clark's “crucial” contribution to the development (1920s/1930s) of a new type of economics he describes as “social”. Similarly, George F. Rohrlich, in his 1970 introductory essay, “The Challenge of Social Economics”, wrote of “The emerging field of social economics”, and noted that “in the United States the term was used in the 1930s and occasionally thereafter”. More recently (1982), Samuel Cameron singles out Mark A. Lutz's 1980 USE contribution, e.g., for neglecting Charles Devas(op. cit., 1876–1907) “as a contributor to the founding of social economics”, while comparing Devas to “the modern social economist”.

The purpose of this paper is to compare the stories of Syd Barrett musician, with Andrew Voyce, and their respective recovery journeys.

The authors use collaborative autoethnography to share their own perspectives on Syd Barrett and to contrast his story with that of Andrew, a co-author.

Both Syd and Andrew experienced serious mental distress. While Syd had only limited contact with mental health services, Andrew’s contact was extensive, with a 20-year history of admissions and discharges. In the end, when the psychiatric services listened to Andrew’s concerns and acted on them, he was able to enter into the journey of recovery.

The authors are restricted in the amount of available information on Syd Barrett, especially that related to mental health problems. The story of Andrew shows how recovery is possible even after years of serious mental illness.

Andrew’s story shows why professionals should never give up on people, with even the most seemingly severe and intractable problems. Could services have done more for Syd?

Mental illness still attracts huge stigma. Today there is a much more open culture. Would Syd have come out about his own struggles with mental health had society been more open?

Bringing together two stories of mental distress enables the authors to explore the concept of recovery.

The purpose of this paper is to investigate the commercial aspect of “green” building construction and whether increased investment costs are profitable taking the reduction in operating costs into account. The investment viability is approached by comparing investment in conventional and “green” residential building, particularly passive houses, using real construction and post‐occupancy conditions.

The key data were obtained by surveys and personal interviews. The first survey was directed to the companies which had experience of building low‐energy housing and the second survey to housing companies that actively manage operation of low‐energy houses.

Findings indicate that low‐energy buildings are considered an interesting and sound business opportunity, and investment analysis indicates that low‐energy houses (particularly passive houses) can be more attractive investments than conventional residential buildings. The long‐term strategy of building low‐energy buildings can give competitive advantages. The government initiative and the construction regulations are found to be necessary in eliminating the initial barrier to energy‐efficient projects and achieving long‐term environmental goals.

This paper provides insights into the investment decisions and contributes to the understanding of the construction, operation and profitability of energy‐efficient residential buildings.

Presents a critical analysis of the “planned change” and “learning organization” approaches to organizational change, and their underlying classical and quantum paradigms. Drawing on a review of the corresponding paradigms in modern physics, concludes that both approaches are incomplete, as they fail to identify a common unifying basis for the organization. Identifies as a unifying basis the “subjective” aspect of the organization, which is accessible in the consciousness of its individual members; then locates a comprehensive framework for organizational change in the worldview of the ancient Vedic tradition of knowledge. The corresponding strategy for organizational development is based on the utilization of systematic, effective techniques for the development consciousness which have been introduced by Maharishi Mahesh Yogi. Empirical research has shown these techniques to develop the mental, physiological and social capacities of the individual. It is predicted that this consciousness‐based strategy, applied in the organizational context, will simultaneously strengthen the alignment between the organization’s goals, the development of the individual and the needs of the environment.