• Title/Summary/Keyword: Robotic hand

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A Study on Technique of Navigation with Power-Reflected of the Walker in the Indoor Environment

  • Kim, Min-Sik;Kwon, Hyouk-Gil;Ryu, Je-Goon;Shim, Hyeon-Min;Lee, Eung-Hyuk;Shim, Jea-Hong;Lee, Sang-Moo
    • 제어로봇시스템학회:학술대회논문집
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    • 2005.06a
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    • pp.957-962
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    • 2005
  • Today, the elderly is increasing gradually in the Republic of Korea society and this problem will be more serious in the near future. Therefore, engineering support for aged people is required. We are establishing a new field of healthcare engineering for elderly people and aiming to support for aged people and disabled people using adaptive control and instrument technology. In this paper, the goal is to implement the shared control of a robot mobility aid for the elderly. As using this type of assistive technology to be useful by its intended user community, it supports elderly people and handicapped people to live independently in their private homes. The interface transforms the force applied by the user into the robot's motion. Devices like buttons, joysticks, and levers already exist for relaying user input; however, they require hand displacement that would loosen or otherwise release the user's hold. Such interfaces make operation very difficult and potentially unsafe. Therefore, we propose a shared control system. It's safe more than joysticks and buttons. The shared control is a means of registering the user's intention through physical interaction. It's an important component in the development of robotic elderly assistant. The concept of shared control describes a system which is two or more independent control systems. We are using that the three component blocks consist of pressure sensor (flexible force sensor), circuit of measurement and transfer function. Experimental trials of this paper have been tested at the indoor environment. The robot is able to know the user intended direction through haptic device were logged along with the robot's force sensor.

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A Study on Implementation of Service Robot Platform for Mess-Cleanup (정리정돈용 서비스 로봇 플랫폼의 구현 연구)

  • Kim, Seung-Woo;Kim, Hi-Jun
    • Journal of Institute of Control, Robotics and Systems
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    • v.18 no.5
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    • pp.487-495
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    • 2012
  • In this paper, a Smart Home Service Robot, McBot II, which performs mess-cleanup function etc. in house, is designed much more optimally than other service robots. It is newly developed in much more practical system than McBot I which we had developed two years ago. One characteristic attribute of mobile platforms equipped with a set of dependent wheels is their omni- directionality and the ability to realize complex translational and rotational trajectories for agile navigation in door. An accurate coordination of steering angle and spinning rate of each wheel is necessary for a consistent motion. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A specialized anthropomorphic robot manipulator which can be attached to the housemaid robot McBot II, is developed in this paper. This built-in type manipulator consists of both arms with 4 DOF (Degree of Freedom) each and both hands with 3 DOF each. The robotic arm is optimally designed to satisfy both the minimum mechanical size and the maximum workspace. Minimum mass and length are required for the built-in cooperated-arms system. But that makes the workspace so small. This paper proposes optimal design method to overcome the problem by using neck joint to move the arms horizontally forward/backward and waist joint to move them vertically up/down. The robotic hand, which has two fingers and a thumb, is also optimally designed in task-based concept. Finally, the good performance of the developed McBot II is confirmed through live tests of the mess-cleanup task.

A Study on the Development of iGPS 3D Probe for RDS for the Precision Measurement of TCP (RDS(Robotic Drilling System)용 TCP 정밀계측을 위한 iGPS 3D Probe 개발에 관한 연구)

  • Kim, Tae-Hwa;Moon, Sung-Ho;Kang, Seong-Ho;Kwon, Soon-Jae
    • Journal of the Korean Society of Manufacturing Process Engineers
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    • v.11 no.6
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    • pp.130-138
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    • 2012
  • There are increasing demands from the industry for intelligent robot-calibration solutions, which can be tightly integrated to the manufacturing process. A proposed solution can simplify conventional robot-calibration and teaching methods without tedious procedures and lengthy training time. iGPS(Indoor GPS) system is a laser based real-time dynamic tracking/measurement system. The key element is acquiring and reporting three-dimensional(3D) information, which can be accomplished as an integrated system or as manual contact based measurements by a user. A 3D probe is introduced as the user holds the probe in his hand and moves the probe tip over the object. The X, Y, and Z coordinates of the probe tip are measured in real-time with high accuracy. In this paper, a new approach of robot-calibration and teaching system is introduced by implementing a 3D measurement system for measuring and tracking an object with motions in up to six degrees of freedom. The general concept and kinematics of the metrology system as well as the derivations of an error budget for the general device are described. Several experimental results of geometry and its related error identification for an easy compensation / teaching method on an industrial robot will also be included.

First Experience of Cardiac Surgery using da $Vinci^{TM}$ Surgical System in Korea (da $Vinci^{TM}$ 수술로봇을 이용한 심장수술 - 첫 번째 치험 보고)

  • Park, Seong-Yong;Lee, Sak;Joo, Hyun-Chul;Yang, Hong-Suk;Park, Young-Hwan;Park, Har-Ki
    • Journal of Chest Surgery
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    • v.40 no.2 s.271
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    • pp.128-131
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    • 2007
  • da $Vinci^{TM}$ Surgical System is an advanced mode of minimal invasive surgery, using 3-dimensional imaging system and robotic arms which can mimic the dexterity of the human hand. Thus, various operations can be performed with minimal incision and limited surgical field and the merits of minimal invasive surgery can be maximized by using it. We report our first experience of robotic open heart surgery using the da $Vinci^{TM}$ Surgical System for repairing atrial septal defect.

Full Duplex Robot System for Transferring Flat Panel Display Glass (디스플레이용 판유리 이송을 위한 양방향 이송 로봇장치)

  • Lee, Dong Hun;Lee, Chibum;Kim, Sung Dong;Cho, Young Hak
    • Journal of the Korean Society of Manufacturing Technology Engineers
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    • v.22 no.6
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    • pp.996-1002
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    • 2013
  • This study addresses the development of a full duplex robotic system for transferring flat-panel display glass. We propose to accomplish this using a bidirectional linear transfer mechanism in place of the conventional rotary transfer mechanism. The developed full duplex robot comprises a driving part that carries the glass panel laterally, vertical part that can be moved up and down by means of a ball screw and linear motion guide arrangement, and hand part that slides by the cylinder of the driving part along the guide rail with a V-guide bearing attached to the bottom of the support. In addition, an alignment part prevents the hand part from derailing and holds the hand part while the driving part moves horizontally. The full duplex robot lifts and drives a glass panel directly while transferring it to the buffer and does not require rotational motion. Therefore, both transferring and stacking are realized with a single device. This device can be used in existing industrial facilities as an alternative to existing industrial robots in current as well as future process lines. The proposed full duplex robot is expected to save considerable amounts of time and space, and increase product throughput.

Trajectory Development of Robotic Arc Welding System for Continuous Welding of Corner Area (모서리 부위 연속 용접을 위한 아크 용접 로봇 시스템의 궤적 개발)

  • 장교근;유범상
    • Journal of Welding and Joining
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    • v.14 no.6
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    • pp.68-80
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    • 1996
  • When a workpiece is to be arc welded around the outside corner, continuous welding without welding seam in the neighborhood of comer still remains a very difficult technique. Skilled welders weld comers by delicate“hand-eye coordination”while turning the workpiece manually, However, there is not a very clear solution to this problem in robotized arc welding process. In order to solve this problem, the coordination of a robot and a positioner with one or two axes is necessary. This paper presents a method of continuous welding around the corner of workpiece using the coordinated motion of a robot and a positioner. The positioner is either revolute jointed or prismatic jointed. In this paper, a clothoid curve is chosen for welding trajectory. The clothoid curve is excellent in connecting straight and curved weld-lines with good continuity and accommodates various welding conditions. By using this welding trajectory, the deceleration, which leads to widening of the melt and the heat affected zone, at comer area is reduced with strategic rotation of robot torch in coordination with a positioner providing smooth transition of welding torch orientation. Two types of special clothoid curves are developed for different weld slope conditions. These clothoid curves are applied to the case of linear and rotary Positioners at arc welding robot work-cell.

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Design and Performance Evaluation of Tactile Device Using MR Fluid (MR 유체를 이용한 촉감구현장치의 설계 및 성능 평가)

  • Kim, Jin-Kyu;Oh, Jong-Seok;Lee, Snag-Rock;Han, Young-Min;Choi, Seung-Bok
    • Transactions of the Korean Society for Noise and Vibration Engineering
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    • v.22 no.12
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    • pp.1220-1226
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    • 2012
  • This paper proposes a novel type of tactile device utilizing magnetorheological(MR) fluid which can be applicable for haptic master of minimally invasive surgery(MIS) robotic system. The salient feature of the controllability of rheological properties by the intensity of the magnetic field(or current) makes this potential candidate of the tactile device. As a first step, an appropriate size of the tactile device is designed and manufactured via magnetic analysis. Secondly, in order to determine proper input magnetic field the repulsive forces of the real body parts such as hand and neck are measured. Subsequently, the repulsive forces of the tactile device are measured by dividing 5 areas. The final step of this work is to obtain desired force in real implementation. Thus, in order to demonstrate this goal a neuro-fuzzy logic is applied to get the desired repulsive force and the error between the desired and actual force is evaluated.

Global Minimum-Jerk Trajectory Planning of Space Manipulator

  • Huang Panfeng;Xu Yangsheng;Liang Bin
    • International Journal of Control, Automation, and Systems
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    • v.4 no.4
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    • pp.405-413
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    • 2006
  • A novel approach based on genetic algorithms (GA) is developed to find a global minimum-jerk trajectory of a space robotic manipulator in joint space. The jerk, the third derivative of position of desired joint trajectory, adversely affects the efficiency of the control algorithms and stabilization of whole space robot system and therefore should be minimized. On the other hand, the importance of minimizing the jerk is to reduce the vibrations of manipulator. In this formulation, a global genetic-approach determines the trajectory by minimizing the maximum jerk in joint space. The planning procedure is performed with respect to all constraints, such as joint angle constraints, joint velocity constraints, joint angular acceleration and torque constraints, and so on. We use an genetic algorithm to search the optimal joint inter-knot parameters in order to realize the minimum jerk. These joint inter-knot parameters mainly include joint angle and joint angular velocities. The simulation result shows that GA-based minimum-jerk trajectory planning method has satisfactory performance and real significance in engineering.

Design and Performance Evaluation of Tactile Device Using MR Fluid (MR 유체를 이용한 촉감구현장치의 설계 및 성능 평가)

  • Kim, Jin-Kyu;Oh, Jong-Seok;Han, Young-Min;Choi, Seung-Bok
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • 2012.10a
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    • pp.415-420
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    • 2012
  • This paper proposes a novel type of tactile device utilizing magnetorheological (MR) fluid which can be applicable for haptic master of minimally invasive surgery (MIS) robotic system. The salient feature of the controllability of rheological properties by the intensity of the magnetic field (or current) makes this potential candidate of the tactile device. As a first step, an appropriate size of the tactile device is designed and manufactured via magnetic analysis. Secondly, in order to determine proper input magnetic field the repulsive forces of the real body parts such as hand and neck are measured. Subsequently, the repulsive forces of the tactile device are measured by dividing 5 areas. The final step of this work is to obtain desired force in real implementation. Thus, in order to demonstrate this goal a neuro-fuzzy logic is applied to get the desired repulsive force and the error between the desired and actual force is evaluated.

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Development of Master-slave System for Robot-assisted Remote Ultrasound Diagnosis (로봇 지원 원격 초음파 영상진단을 위한 마스터-슬레이브 시스템의 개발)

  • Seo, Joonho;Cho, Jang Ho;Kwon, Ohwon
    • The Journal of Korea Robotics Society
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    • v.12 no.4
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    • pp.395-401
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    • 2017
  • In this paper, we introduce a robot-assisted medical diagnostic system that enables remote ultrasound (US) imaging to be applied to the conventional telemedicine, which has been possible only with interviewing or a visual exam. In particular, a master-slave robot system is developed that ultrasonic diagnosis specialist can control the position and orientation of US probe in the remote place. The slave robot is designed to be compact, lightweight, and hand-held so that it can easily transfer to the remote healthcare center. Moreover, 6-degree-of-freedom (DOF) probe motion is possible by the robot design based on Stewart platform. The master device is also based on a similar structure of the slave robot. To connect master and slave system in the wide area network (WAN) environment, a hardware CODEC was developed. In this paper, we introduce the detail of each component and the results of the recent experiments conducted in the remote sites by the developed robotic ultrasound imaging system.