Search results

1 – 10 of 523
Article
Publication date: 1 March 2004

A. Shirinov, J. Kamenik and S. Fatikow

Miniaturised nanohandling microrobots are used to handle objects of less than 100 μm size with accuracy down to several nanometres. Operating a nanohandling robot in the…

Abstract

Miniaturised nanohandling microrobots are used to handle objects of less than 100 μm size with accuracy down to several nanometres. Operating a nanohandling robot in the microworld and nanoworld presents challenges not found in the macroworld. To allow a good manipulability, we propose a teleoperation system, which is based on the innovative approach of haptic‐based model‐oriented teleoperation of nanohandling robots. The newly developed haptic interface for a microrobot cell is used in the proposed teleoperation system for the teleoperation of the industrial nanohandling robot. This paper presents the scanning electron microscope based nanohandling station that uses the proposed haptic‐based model‐oriented teleoperation approach. Further, we discuss the integration of a force microsensor into the teleoperation interface. The first experiments and theoretical research show that the proposed approach can improve haptic‐based teleoperation of nanohandling robots.

Details

Assembly Automation, vol. 24 no. 1
Type: Research Article
ISSN: 0144-5154

Keywords

Article
Publication date: 5 August 2014

Dalia De Santis, Jacopo Zenzeri, Maura Casadio, Lorenzo Masia, Valentina Squeri and Pietro Morasso

The working hypothesis, on which this paper is built, is that it is advantageous to look at protocols of robot rehabilitation in the general context of human-robot interaction in…

Abstract

Purpose

The working hypothesis, on which this paper is built, is that it is advantageous to look at protocols of robot rehabilitation in the general context of human-robot interaction in haptic dyads. The purpose of this paper is to propose a new method to detect and evaluate an index of active participation (AC index), underlying the performance of robot-assisted movements. This is important for avoiding the slacking phenomenon that affects robot therapy.

Design/methodology/approach

The evaluation of the AC index is based on a novel technique of assistance which does not use constant or elastic forces but trains of small force impulses, with amplitude adapted to the level of impairment and a frequency of 2 Hz, which is suggested by recent results in the field of intermittent motor control. A preliminary feasibility test of the proposed method was carried out during a haptic reaching task in the absence of visual feedback, for a group of five stroke patients and an equal group of healthy subjects.

Findings

The AC index appears to be stable and sensitive to training in both populations of subjects.

Originality/value

The main original element of this study is the proposal of the new AC index of voluntary control associated with the new method of pulsed haptic interaction.

Details

International Journal of Intelligent Computing and Cybernetics, vol. 7 no. 3
Type: Research Article
ISSN: 1756-378X

Keywords

Article
Publication date: 1 December 2004

A.M. Okamura

Teleoperated minimally invasive surgical robots can significantly enhance a surgeon's accuracy, dexterity and visualization. However, current commercially available systems do not…

10124

Abstract

Teleoperated minimally invasive surgical robots can significantly enhance a surgeon's accuracy, dexterity and visualization. However, current commercially available systems do not include significant haptic (force and tactile) feedback to the operator. This paper describes experiments to characterize this problem, as well as several methods to provide haptic feedback in order to improve surgeon's performance. There exist a variety of sensing and control methods that enable haptic feedback, although a number of practical considerations, e.g. cost, complexity and biocompatibility, present significant challenges. The ability of teleoperated robot‐assisted surgical systems to measure and display haptic information leads to a number of additional exciting clinical and scientific opportunities, such as active operator assistance through “virtual fixtures” and the automatic acquisition of tissue properties.

Details

Industrial Robot: An International Journal, vol. 31 no. 6
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 15 May 2017

Tayfun Abut and Servet Soyguder

This paper aims to use the adaptive computed torque control (ACTC) method to eliminate the kinematic and dynamic uncertainties of master and slave robots and for the control of…

Abstract

Purpose

This paper aims to use the adaptive computed torque control (ACTC) method to eliminate the kinematic and dynamic uncertainties of master and slave robots and for the control of the system in the presence of forces originating from human and environment interaction.

Design/methodology/approach

In case of uncertainties in the robot parameters that are utilized in teleoperation studies and when the environment where interactions take place is not known and when there is a time delay, very serious problems take place in system performance. An adaptation rule was created to update uncertain parameters. In addition to this, disturbance observer was designed for slave robot. Lyapunov function was used to analyze the system’s position tracking and stability. A visual interface was designed to ensure that the movements of the master robot provided a visual feedback to the user.

Findings

In this study, a visual interface was created, and position and velocity control was achieved utilizing teleoperation; the system’s position tracking and stability were analyzed using the Lyapunov method; a simulation was applied in a real-time environment, and the performance results were analyzed.

Originality/value

This study consisted of both simulation and real-time studies. The teleoperation system, which was created in a laboratory environment, consisted of six-degree-of-freedom (DOF) master robots, six-DOF industrial robots and six-DOF virtual robots.

Details

Industrial Robot: An International Journal, vol. 44 no. 3
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 13 December 2017

Shuizhong Zou, Bo Pan, Yili Fu and Shuixiang Guo

The purpose of this paper is to propose a control algorithm to improve the backdrivability performance of minimally invasive surgical robotic arms, so that precise manual…

Abstract

Purpose

The purpose of this paper is to propose a control algorithm to improve the backdrivability performance of minimally invasive surgical robotic arms, so that precise manual manipulations of robotic arms can be performed in the preoperative operation.

Design/methodology/approach

First, the flexible-joint dynamic model of the 3-degree of freedom remote center motion (RCM) mechanisms of minimally invasive surgery (MIS) robot is derived and its dynamic parameters and friction parameters are identified. Next, the angular velocities and angular accelerations of joints are estimated in real time by the designed Kalman filter. Finally, a control algorithm based on Kalman filter is proposed to enhance the backdrivability of RCM mechanisms by compensating for the internally generated gravitational, frictional and inertial resistances experienced during the positioning and orientating.

Findings

The parameter identification for RCM mechanisms can be experimentally evaluated from comparison between the measured torques and the reconstructed torques. The accuracy and convergence of the real-time estimation of angular velocity and acceleration of the joint by the designed Kalman filter can be verified from corresponding simulation experiments. Manual adjustment experiments and animal experiments validate the effectiveness of the proposed backdrivability control algorithm.

Research limitations/implications

The backdrivability control algorithm presented in this paper is a universal method to enhance the manual operation performance of robots, which can be used not only in the medical robot preoperative manual manipulation but also in robot haptic interaction, industrial robot direct teaching and active rehabilitation training of rehabilitation robot and so on.

Originality/value

Compared with other backdrivability design methods, the proposed algorithm achieves good backdrivability for RCM mechanisms without using force sensors and accelerometers. In addition, this paper presents a new static friction compensation approach for a joint moving with very low velocity.

Details

Industrial Robot: An International Journal, vol. 45 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 27 June 2022

Joanne Pransky

The following article is a “Q&A interview” conducted by Joanne Pransky of Industrial Robot Journal as a method to impart the combined technological, business and personal…

Abstract

Purpose

The following article is a “Q&A interview” conducted by Joanne Pransky of Industrial Robot Journal as a method to impart the combined technological, business and personal experience of a prominent, robotic industry PhD-turned successful innovator and entrepreneur regarding turning his lifelong dream into an invention and commercialized product. This paper aims to discuss these issues.

Design/methodology/approach

Harry Kloor is a successful serial entrepreneur, scientist, technologist, educator, policy advisor, author and Hollywood filmmaker. He is the CEO and co-founder of Beyond Imagination, a company that has developed a suite of exponential technology solutions that deploys artificial intelligence (AI), AR, robotics, machine learning and human–computer interaction technology to enhance and revolutionize the world’s workforce. The company early in 2021 completed BEOMNI 1.0, the world’s first fully functional humanoid robotic system with an AI evolving brain, enabling remote work at a high level of fidelity to be done from around the globe. Kloor describes how he transformed his childhood dream into his brainchild and tangible reality.

Findings

Kloor was born a groundbreaker who did not take no for an answer. He was born partially crippled with his legs facing backwards. The doctors said that he would spend his life in braces and would never be able to run. His parents told him not to let those ideas limit him and by the age of seven he ran for the first time and went on to become a martial arts master. Kloor’s childhood dream was to create ways to leave his body and inhabit a robotic body so that he could physically be free from his limited mobility. Kloor built his first computer at the age of seven and invented his first product at the age of eight. Kloor's inspiration to study science came largely from science fiction and his 20,000-plus collection of comic books. Knowing the nature of exponential growth, he spent the next 40 years building the expertise, relationships, networks and experience in all areas of exponential technology. Kloor obtained a BA from Southern Oregon State College, an MEd from Southern Oregon University and two simultaneous PhDs, one in chemistry and one in physics, from Purdue University. Kloor co-founded the company Universal Consultants, where he served as chief science consultant, providing guidance to clients in the development of new technological products, patents and policy positions. Kloor was the founder of Stem CC Inc. – a stem cell company that was sold in 2018 to Celularity, one of the world’s most cutting edge clinical-stage cell therapeutics company. Kloor is also the founder and president of Jupiter 9 Productions and is a credited film writer, director and producer. Since his graduation from Purdue University, he has written for Star Trek: Voyager and was the story editor for Gene Roddenberry’s Earth: Final Conflict, a series he co-created/developed. Kloor helped create Taiwan’s animation industry, bringing Quantum Quest: A Cassini Space Odyssey, the first big animation film that starred major Hollywood stars, to Taiwan. Kloor also sits on the board of Brain Mapping and Therapeutics Society and serves as their Chief Scientific Advisor and Educational Outreach Coordinator.

Originality/value

Kloor is a “creative consultant and universal problem solver, with an emphasis in technology and education.” Kloor has worked with Dr Peter Diamandis since the first class of the International Space University in 1988. Kloor was one of the five founding team members of XPRIZE serving as its CSO until 2005 and was one of the founders of the Rocket Racing League. He was on the founding team of Singularity University and taught at Singularity’s first summer program. In 2016 he created the $10m Avatar XPRIZE, and in 2018 he co-created the Carbon Extraction XPRIZE which obtained the largest incentive prize in history, a $100m, funded by Elon Musk and the Musk Foundation. Kloor is the only person in world history to earn two PhDs simultaneously in two distinct academic disciplines. In recognition of this achievement, he was named ABC World News’ Person of the Week in August 1994. Kloor has received numerous awards, including The Golden Axon Award from the Society for Brain Mapping & Therapeutics. He has recently created the Kloor Cycle, a four-stage experiential autonomous learning process within Beomni’s “AI Brain,” adapted from Kolb’s Learning Cycles.

Details

Industrial Robot: the international journal of robotics research and application, vol. 49 no. 5
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 6 November 2019

Serhat Aksungur, Muhammet Aydin and Oğuz Yakut

The purpose of this study is to design and manufacture a new remote center of motion (RCM) mechanism for use in laparoscopic surgical operations. In addition, obtaining the…

Abstract

Purpose

The purpose of this study is to design and manufacture a new remote center of motion (RCM) mechanism for use in laparoscopic surgical operations. In addition, obtaining the forward and inverse kinematic equations of the RCM mechanism and performing real-time position control with the Proportional–Integral–Derivative (PID) control method.

Design/methodology/approach

At the design stage, it is benefited from similar triangle rule. To obtain the kinematic equations in a simple way and facilitate control, two-fold displacement ratio is provided between the limbs where linear motion occurs. The rotation and displacement amounts required to move at the RCM point have been calculated by using the kinematic equations of the mechanism. Limb dimensions and motion limits are determined in the manner to avoid singularities and collisions. The x, y and z coordinates of the end effector have been defined as the reference point. Control of the mechanism was provided by PID control. To generate the user interface and control algorithm, MATLAB/Simulink real-time toolbox has been used. Four reference points were determined, control was performed and position error values were examined. MF634 Humusoft data acquisition card has been preferred to collect data from encoders.

Findings

A novel RCM mechanism has been designed and manufactured. Kinematic equations of this mechanism have been obtained. Position control of the cannula tip has been performed using PID control method for four different reference points. After settlement, maximum position error has been observed as 0.45 mm.

Practical implications

Structure of the designed mechanism is quite simple. Thus, costs are quite low. The operation area of the operator is widened by hanging the mechanism from the ceiling, so operational capability of health personnel is increasing. It helps to decrease the operation time and increase the success of the operation.

Originality/value

With this study, it is aimed to contribute to the literature by designing a new RCM mechanism. The rotation of the mechanism around the RCM point is provided by only one rotary motor, and the displacement of the RCM point in the vertical axis is provided by only one linear motor. The mechanism is also a surgical robot. The designed system is suitable for use in robot-assisted laparoscopic surgery in terms of maneuverability.

Details

Industrial Robot: the international journal of robotics research and application, vol. 47 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

Content available
Article
Publication date: 5 August 2014

Dr Guilherme N. DeSouza

103

Abstract

Details

International Journal of Intelligent Computing and Cybernetics, vol. 7 no. 3
Type: Research Article
ISSN: 1756-378X

Article
Publication date: 30 October 2018

Feifei Bian, Danmei Ren, Ruifeng Li and Peidong Liang

The purpose of this paper is to eliminate instability which may occur when a human stiffens his arms in physical human–robot interaction by estimating the human hand stiffness and…

Abstract

Purpose

The purpose of this paper is to eliminate instability which may occur when a human stiffens his arms in physical human–robot interaction by estimating the human hand stiffness and presenting a modified vibration index.

Design/methodology/approach

Human hand stiffness is first estimated in real time as a prior indicator of instability by capturing the arm configuration and modeling the level of muscle co-contraction in the human’s arms. A time-domain vibration index based on the interaction force is then modified to reduce the delay in instability detection. The instability is confirmed when the vibration index exceeds a given threshold. The virtual damping coefficient in admittance controller is adjusted accordingly to ensure stability in physical human–robot interaction.

Findings

By estimating the human hand stiffness and modifying the vibration index, the instability which may occur in stiff environment in physical human–robot interaction is detected and eliminated, and the time delay is reduced. The experimental results demonstrate significant improvement in stabilizing the system when the human operator stiffens his arms.

Originality/value

The originality is in estimating the human hand stiffness online as a prior indicator of instability by capturing the arm configuration and modeling the level of muscle co-contraction in the human’s arms. A modification of the vibration index is also an originality to reduce the time delay of instability detection.

Details

Industrial Robot: the international journal of robotics research and application, vol. 46 no. 4
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 14 January 2014

Ahmad Mashayekhi, Ali Nahvi, Mojtaba Yazdani, Majid Mohammadi Moghadam, Mohammadreza Arbabtafti and Mohsen Norouzi

This paper aims to present the design and implementation of VirSense, a novel six-DOF haptic interface system, with an emphasis on its gravity compensation and fixed-base motors…

Abstract

Purpose

This paper aims to present the design and implementation of VirSense, a novel six-DOF haptic interface system, with an emphasis on its gravity compensation and fixed-base motors.

Design/methodology/approach

In this paper, the design and manufacture of the VirSense robot and its comparison with the existing haptic devices are presented. The kinematic analysis of the robot, design of the components, and manufacturing of the robot are explained as well.

Findings

The proposed system is employed to generate a Virtual Sense (VirSense) with fixed-base motors and a spring compensation system for counterbalancing the torques generated by the weight of the links. The fixed bases of the motors reduce the system's effective mass and inertia, which is an important factor in haptic interface systems. A novel cabling system is used to transmit the motor torques to the end-effector. The spring-based gravity compensation system causes more reduction in the effective mass and inertia.

Originality/value

This paper provides the details of the VirSense haptic device, its gravity compensation system, and a novel cabling power transmission.

Details

Industrial Robot: An International Journal, vol. 41 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

1 – 10 of 523