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Human Inspired Dexterity In Robotic Manipulation

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Human Inspired Dexterity in Robotic Manipulation

Human Inspired Dexterity in Robotic Manipulation Book
Author : Tetsuyou Watanabe,Kensuke Harada,Mitsunori Tada
Publisher : Academic Press
Release : 2018-06-26
ISBN : 0128133961
Language : En, Es, Fr & De

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Book Description :

Human Inspired Dexterity in Robotic Manipulation provides up-to-date research and information on how to imitate humans and realize robotic manipulation. Approaches from both software and hardware viewpoints are shown, with sections discussing, and highlighting, case studies that demonstrate how human manipulation techniques or skills can be transferred to robotic manipulation. From the hardware viewpoint, the book discusses important human hand structures that are key for robotic hand design and how they should be embedded for dexterous manipulation. This book is ideal for the research communities in robotics, mechatronics and automation. Investigates current research direction in robotic manipulation Shows how human manipulation techniques and skills can be transferred to robotic manipulation Identifies key human hand structures for robotic hand design and how they should be embedded in the robotic hand for dexterous manipulation

Cyber Physical Systems and Control

Cyber Physical Systems and Control Book
Author : Dmitry G. Arseniev,Ludger Overmeyer,Heikki Kälviäinen,Branko Katalinić
Publisher : Springer Nature
Release : 2019-11-29
ISBN : 3030349837
Language : En, Es, Fr & De

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Book Description :

This book presents the proceedings of the International Conference on Cyber-Physical Systems and Control (CPS&C'2019), held in Peter the Great St. Petersburg Polytechnic University, which is celebrating its 120th anniversary in 2019. The CPS&C'2019 was dedicated to the 35th anniversary of the partnership between Peter the Great St. Petersburg Polytechnic University and Leibniz University of Hannover. Cyber-physical systems (CPSs) are a new generation of control systems and techniques that help promote prospective interdisciplinary research. A wide range of theories and methodologies are currently being investigated and developed in this area to tackle various complex and challenging problems. Accordingly, CPSs represent a scientific and engineering discipline that is set to make an impact on future systems of industrial and social scale that are characterized by the deep integration of real-time processing, sensing, and actuation into logical and physical heterogeneous domains. The CPS&C'2019 brought together researchers and practitioners from all over the world and to discuss cross-cutting fundamental scientific and engineering principles that underline the integration of cyber and physical elements across all application fields. The participants represented research institutions and universities from Austria, Belgium, Bulgaria, China, Finland, Germany, the Netherlands, Russia, Syria, Ukraine, the USA, and Vietnam. These proceedings include 75 papers arranged into five sections, namely keynote papers, fundamentals, applications, technologies, and education and social aspects.

Achieving Human like Dexterity in Robotic Hands

Achieving Human like Dexterity in Robotic Hands Book
Author : Taylor D. Niehues
Publisher : Unknown
Release : 2017
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

The human hand's unique biomechanical structure and neuromuscular control combine to produce amazing dexterous capabilities in a way that is still not fully understood. The Anatomically Correct Testbed (ACT) hand is a robotic system that is designed as a physical simulation of the human hand, and can help us examine and potentially uncover the roles of biomechanics and neural control in achieving dexterity. In this dissertation, I utilize the ACT hand and other robotic systems to explore the underlying sources of human hand dexterity, with the goal of understanding the fundamental differences between robotic and human hands in terms of (i) mechanical joint/tendon structure and (ii) control strategies. To begin, I develop comprehensive mechanical models that describe the musculoskeletal and tendon mechanics of the fingers and thumb of the human hand. Then, I work to isolate the contributions of biomechanical structure and neuromuscular control toward human dexterity. I have developed and implemented control strategies for achieving fine object manipulation first with the robotic hand of a space humanoid, Robonaut 2, and then with the ACT hand. I examined the unique control challenges, including uncontrollable joints and the requirement of accurate internal models, that arise due to the human hand's complex musculotendon structure and the potential advantages offered by the human hand's design, such as passive joint coupling to facilitate grasp shape adaptation and force production capabilities that are ideally suited for common manipulation tasks. Finally, inspired by the neuromuscular control strategies of the human hand, I have developed a novel hierarchical control strategy for the ACT hand and experimentally demonstrated improved grasp stability and manipulation capabilities compared to conventional robotic control laws. Through an in-depth exploration of human hand biomechanics and neuromuscular control, theoretical control analysis of robotic and human hands, and experimental demonstration of fine object manipulation, this work uncovers crucial insights into the sources of human hand dexterity that have the potential to drive innovative design and control strategies and bring robotic and prosthetic hands closer to human levels of dexterity.

Advances in Service and Industrial Robotics

Advances in Service and Industrial Robotics Book
Author : Nikos A. Aspragathos,Panagiotis N. Koustoumpardis,Vassilis C. Moulianitis
Publisher : Springer
Release : 2018-09-28
ISBN : 3030002322
Language : En, Es, Fr & De

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Book Description :

This volume contains the proceedings of the RAAD 2018 conference, covering major areas of research and development in robotics. It provides an overview on the advances in robotics, more specifically in novel design and applications of robotic systems; dexterous grasping, handling and intelligent manipulation; intelligent cooperating and service robots; advanced robot control; human-robot interfaces; robot vision systems and visual serving techniques; mobile robots; humanoid and walking robots; field and agricultural robotics; bio-inspired and swarm robotic systems; developments towards micro and nano-scale robots; aerial, underwater and spatial robots; robot integration in holonic manufacturing; personal robots for ambient assisted living; medical robots and bionic prostheses; intelligent information technologies for cognitive robots etc. The primary audience of the work are researchers as well as engineers in robotics and mechatronics.

Advanced Robotics

Advanced Robotics Book
Author : Anonim
Publisher : Unknown
Release : 1997
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Download Advanced Robotics book written by , available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.

Manipulators and Manipulation in High Dimensional Spaces

Manipulators and Manipulation in High Dimensional Spaces Book
Author : Vikash Kumar
Publisher : Unknown
Release : 2016
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Hand manipulation is one of the most complex form of biological movements. Despite its significance in multiple fields such as biomechanics, neuroscience, robotics and graphics, our understanding of dexterous manipulation is quite superficial and far from being reproducible. The unique capabilities of the human hand have long inspired roboticist in their pursuit to develop manipulators with similar dexterity. Simple and isolated tasks such as grasping can of course be accomplished by simpler devices. Nevertheless, if robots are to perform a wider range of tasks in less structured environments than what is currently possible, they are likely to need manipulators approaching human levels of dexterity. The primary goal of this thesis is to realize dynamic dexterous manipulation on physical hardware. The thesis makes following contributions towards this goal Design and development of "ADROIT Manipulation Platform" - a 28 degrees of freedom arm-hand system capable of hosting dexterous dynamics manipulation, thanks to the custom designed fast, strong and compliant pneumatic actuation system. Behavior synthesis techniques - that are capable of synthesizing the details of dynamic dexterous manipulation in high dimensional manipulators - and scalable approaches that bridge the wide divide between what's possible in simulation and what works on the physical hardware under real world conditions.

Unmanned Ground Vehicle Technology

Unmanned Ground Vehicle Technology Book
Author : Anonim
Publisher : Unknown
Release : 2005
ISBN : 0987650XXX
Language : En, Es, Fr & De

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How Robots Replace Human Job

How Robots Replace Human Job Book
Author : Johnny Ch Lok
Publisher : Unknown
Release : 2021-02-13
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

I Robot and internet things future machinemen invention Nowadays, there are some company, which apply internet and (AI) I Robot technology to do any similar human job nature. For fishing industry example, one company, known for creating the Roomba, I Robot is now working with marine conservationists to launch an ocean-patrolling intelligent robot to hunt and manage invasive species, protecting native populations. And evolved industries like precision agriculture are ramping of our increasing population. Area of practice that once seemed impossible to digitize are fundamentally changing because of the impacts of (AI), internet of things capabilities and big data analytics, which have many potentially positive impactions for society.For textile industry example, automation is nothing new, it has shaped the workplace to replace human jobs to boost productivity in the textile industry. Textile machines have had a generally positive impact over gears, creating value and allowing textile workers to take up more rewarding age will likely continue to create opportunities and lead to new textile industries, companies and textile occupations. It may also compensate for a demographically driven slowdown in the growth of the textile workforce. The future impact of textile (AI) and automatic and internet link is somewhat uncertain. It seems textile industry will be trend to accept (AI) textile workers and internet of thing to replace traditional manual textile workers to produce any shirts, cloths etc. wearing products in factories popularly, during the (AI) textile machine and internet thing technology can be invented to reach the mature stage in the future.For factory worker transportation job example, they have also expanded their influence, migrating from the factory floor to the service sector and taking the place of humans in a range of activities from financial transactions to transport route optimization. Further (AI) machines and robots are increasingly programmed to learn, meaning they improve with time and undertake cognitive activities. Hence, (AI) machines and internet technology enable automation of work activities to raise factory workers' efficient and performances, also factories can reduce manual worker numbers, due to (AI) machine workers' assistance.Future, (AI) robotics technologies and internet technique have these different kinds of characteristics: For soft robotics example, it is non-rigid robots construct with soft and deformable materials that can manipulate items of varying size, shape and weight with a single device. For swarm robotics, it coordinated multi-robot systems often involving large numbers of mostly physical robots. For touch/factile robotic example, it robotic body pails (often biologically inspired hands) with capability to sense, touch, dexterity robots example, serpentine robots with many internal degrees of freedom to threat through tightly packed spaces for humanoid robots example, robots physical is similar to human being often bi-pedal that investigate variety capable of performing human tasks, including movement across terrains, object recognition, speech sensing etc. For autonomous cars and trucks example, it is capable of operating with a human pilot, e.g. the unarmed general atomics Predator XPUAV with roughly half the wingspan of a Boeing 737 can fly autonomously for up to 35 hours from take-off to landing, for unmanned aerial vehicles example, flying vehicles capable of operating without a human pilot, the unarmed general atomics predator -XPUAV, with roughly half the wingspan of a Boing 737, and fly autonomously for up to 35 hours from take off to landing, for (AI) chat bots example, (AI) systems designed to simulate conversation with human users, particularly those integrated into massaging apps.

Robot Control 1994 SYROCO 94

Robot Control 1994  SYROCO  94  Book
Author : Lorenzo Sciavicco,Claudio Bonivento,F. Nicolò
Publisher : Pergamon
Release : 1995
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Paperback. Leading developments in Robot Control technology have led to increasingly successful control operations. Researchers and practitioners within this field were provided with the opportunity to have an international forum for discussion and evaluation of the latest technological developments at the IFAC Symposia on Robot Control. This symposia, the latest in the series, has given rise to this invaluable publication which assesses in detail the current and future advancements in the key Robot Control technologies.

International Aerospace Abstracts

International Aerospace Abstracts Book
Author : Anonim
Publisher : Unknown
Release : 1998
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Download International Aerospace Abstracts book written by , available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.

Space Technology and Applications International Forum STAIF 2005

Space Technology and Applications International Forum   STAIF 2005 Book
Author : Mohamed S. El-Genk
Publisher : American Institute of Physics
Release : 2005-03-03
ISBN : 9780735402300
Language : En, Es, Fr & De

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Book Description :

The proceedings of STAIF-05 feature a broad spectrum of topics on space science and technology, space exploration, space colonization; advanced propulsion concepts; space nuclear power and propulsion systems technologies; thermophysics in microgravity, advanced energy conversion technologies; next generation space transportation; high temperature materials; and high power electric propulsion. These topics span the range from basic research to the recent technology advances and hardware testing.

Embedded Optical Sensing for Robots in Extreme Environments

Embedded Optical Sensing for Robots in Extreme Environments Book
Author : Yong-Lae Park
Publisher : Unknown
Release : 2010
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Force sensing is an essential requirement for dexterous robot manipulation. Metal or semiconductor strain gages are commonly used for measuring forces. However, for certain uses in extreme environments, such as extra-vehicular activities in space and magnetic resonance imaging (MRI)-guided robotic surgeries, optical fiber Bragg grating (FBG) sensors have compelling advantages: they are immune to electromagnetic noise, physically robust (especially when embedded in solid parts), and able to resolve very small strains. In addition, with optical multiplexing, many sensors can be located along a single fiber and interrogated in parallel. This thesis first describes composite robot end-effectors that incorporate optical fibers for accurate force sensing and control and for estimating contact locations. The overall design is inspired by biological mechanoreceptors, such as slit sensillae or campaniform sensillae, in arthropod exoskeletons that allow them to sense contacts and loads on their limbs by detecting strains caused by structural deformation. A new fabrication process is presented to create multi-material reinforced robotic structures with embedded fibers. The results of experiments are presented for characterizing the sensors and controlling contact forces in a closed loop system involving a large industrial robot and a two fingered dexterous hand. The proposed exoskeleton finger structure was able to detect less than 0.02 N of contact force changes and to measure less than 0.15 N of contact forces practically. A brief description on the optical interrogation method, used for measuring multiple sensors along a single fiber at kHz rates needed for closed-loop force control, is also provided. Following the successful creation of force sensing robot fingers in a large-scale (120 mm long) prototype, the finger structure was miniaturized to a human fingertip scale (15 mm long) for robots designed for human interactions in space. For miniaturization, a bend-insensitive optical fiber was selected to be embedded in a small fingertip. The small fingertip was able to measure 3-axial forces with practical force measurement resolutions of 0.05 N for forces applied transverse to the finger and 0.16 N for forces applied axially to the fingertip. As an extension of the application of FBG sensors to robotic devices used in extreme environments, a magnetic resonance imaging (MRI)-compatible biopsy needle is instrumented with FBGs for measuring bending deflections as it is inserted into tissues. During procedures such as diagnostic biopsies and localized treatments, it is useful to track any tool deviation from the planned trajectory to minimize positioning error and procedural complications. The goal is to display tool deflections in real-time, with greater bandwidth and accuracy than when viewing the tool in MR images. A standard 18 ga (approximately 1 mm diameter) x 15 cm inner needle is prepared using a custom-designed fixture, and 350 um deep grooves are created along its length. Optical fibers are embedded in the grooves. Two sets of sensors, located at different points along the needle, provide a measurement of an estimate of the bent profile, as well as temperature compensation. After calibration, the measured tip position was accurate to within 0.11 mm. Tests of the needle in a canine prostate showed that it produced no adverse imaging artifacts when used with the MR scanner and no sensor signal degradation from the strong magnetic field.

Prediction Artificial Intelligence Brings What

Prediction Artificial Intelligence Brings What Book
Author : Johnny Ch Lok
Publisher : Unknown
Release : 2020-04-28
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Future, (AI) robotics technologies and internet technique have these different kinds of characteristics: For soft robotics example, it is non-rigid robots construct with soft and deformable materials that can manipulate items of varying size, shape and weight with a single device. For swarm robotics, it coordinated multi-robot systems often involving large numbers of mostly physical robots. For touch/factile robotic example, it robotic body pails (often biologically inspired hands) with capability to sense, touch, dexterity robots example, serpentine robots with many internal degrees of freedom to threat through tightly packed spaces for humanoid robots example, robots physical is similar to human being often bi-pedal that investigate variety capable of performing human tasks, including movement across terrains, object recognition, speech sensing etc. For autonomous cars and trucks example, it is capable of operating with a human pilot, e.g. the unarmed general atomics Predator XPUAV with roughly half the wingspan of a Boeing 737 can fly autonomously for up to 35 hours from take-off to landing, for unmanned aerial vehicles example, flying vehicles capable of operating without a human pilot, the unarmed general atomics predator -XPUAV, with roughly half the wingspan of a Boing 737, and fly autonomously for up to 35 hours from take off to landing, for (AI) chat bots example, (AI) systems designed to simulate conversation with human users, particularly those integrated into massaging apps. In Dec. 2015. the general service administration of the US Govt. described how it used a chat bot named Mrs. Landingham (a character from the television show the west wing) to help onboard new employees. Finally, for robotic process automation example, class of software robots that replicates the actions of a human being interacting with the user interfaces of both software systems. Enables the automation of many back-office work flows without requiring expensive IT integration . Hence, future (AI) robot machine men will have different functions to be applied to different industries to use in possible.Statistics Denmark shows that (AI) automation potential robots will influence few jobs are completely automatable, but close to half consists of 40% automatable tasks: It showed example occupations include share of automated, such as brewing machine operators are more than 80%, logging equipment operators are more than 50%, roofers, stock tasks clerks, travel agent are more than 50%, farmers, nursing assistants are more than 30%, physicians, teachers, managers are more than 10%.For example, humans perform a wide variety of tasks from planting corn to examine spreadsheets, meeting clients and lifting crates in a store. Each of these actions requires a combination of innate or acquired capabilities, internet technique assistance, ranging from social perceptiveness to fine motor skills and natural language understanding. To understand and map automation feasibility by existing technology. Mc Kinsey has developed a framework of 18 technical capabilities that can substitute tasks performed by humans. The capabilities are grouped in five categories: sensory, cognitive, language, social and emotional and physical. So, it seems (AI) robot machine men and internet technique will have possible combination to invent to own human's emotion, language, learning, task skill abilities.

Experimental Robotics

Experimental Robotics Book
Author : Anonim
Publisher : Unknown
Release : 2001
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Download Experimental Robotics book written by , available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.

Bioinspired Sinusoidal Finger Joint Synergies for a Dexterous Robotic Hand to Screw and Unscrew Objects

Bioinspired Sinusoidal Finger Joint Synergies for a Dexterous Robotic Hand to Screw and Unscrew Objects Book
Author : Nareen Karnati
Publisher : Unknown
Release : 2012
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

This work deals with the complex task of unscrewing and screwing a threaded bottle cap with a dexterous anthropomorphic robotic hand in two cases: i.e, with the thumb-first finger and also with the thumb-little finger. To that end, human motion profiles of nine test subjects were recorded while unscrewing and screwing a bottle cap with five different orientations of their hand with respect to the bottle. Results showed that the periodic motions exhibited by the finger joints shared a common frequency for each subject, but differed in amplitude and phase. From the gathered data, a set of sinusoidal trajectories were developed to approximate this motion for a robotic hand. Because the joint trajectories share the same frequency, a family of sinusoidal inputs can be used in the path planning of the robot to unscrew and screw threaded objects. This significantly reduces the computational cost and complexity of the task. Additionally, the unscrewing data appears highly similar to the mirror image of the screwing data. This implies that the transition to or from screwing or unscrewing motions can be achieved simply by increasing or decreasing the time vector within the family of sinusoids. Simulation results show that the developed sinusoidal trajectories show a close correlation with the motion profiles seen from human experiments. Furthermore, this solution is broadened to two cases. Case1: objects with wide variations in diameters by relating joint angle offsets of the hand to diameter size through the forward kinematics equations. Additional experiments are performed with different object diameters to show the versatility of the concept. The sinusoidal trajectories are all implemented within a PID sliding mode controller to ensure overall system stability. Using the developed sinusoidal joint angle trajectories, the robotic hand successfully unscrewed and screwed four different objects in all trials conducted with each object diameter size. Case2: An adaptive synergy controller is presented which autonomously modulates the finger synergies of a dexterous robotic hand according to the relative orientation of a grasped object. The adaptive synergy controller is derived from approximating the human motion of unscrewing a bottle cap with sinusoids to replicate the task with a robotic hand. Data from human experiments were used to develop an adaptive synergy controller that autonomously modulates the artificial robotic finger motions in accordance with the orientation angle of the manipulator with respect to the grasped object. By choosing appropriate phase and amplitude parameters for the sinusoids used to drive the adaptive synergy controller, the complex motions involved in performing this task can be controlled by a single input. Experimental results of the adaptive synergy controller show that the control strategy successfully allows a dexterous robotic hand to unscrew and screw objects in multiple orientations using only a single input.

Intelligent Control Systems and Signal Processing 2003

Intelligent Control Systems and Signal Processing 2003 Book
Author : M. G. Ruano,António E. Ruano,Peter J. Fleming
Publisher : Pergamon Press
Release : 2003
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

KEY FEATURES: The first IFAC conference and thus proceedings to be specifically devoted to this field Presents the findings of experts and practitioners from the major soft- computing themes Provides an overview of the theory and applications of intelligent control systems and signal processing Intelligent control systems and signal processing 2003 contains the selection of papers presented at the IFAC International Conference on Intelligent Control systems and Signal Processing (ICONS) 2003. The conference was sponsored by the most important organizations in the field, among them were the Institue of Electrical and Electronic Engineers (IEEE), and the Control Systems Society (CSS) This proceedings volume contains 98 papers, with three separate reviewers having reviewed all papers, Including six plenary lectures given by leading experts in the field.

Skin like Multi modal Sensing Devices for Dexterous Robotic Hands

Skin like Multi modal Sensing Devices for Dexterous Robotic Hands Book
Author : Jooyeun Ham
Publisher : Unknown
Release : 2020
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Skin-like sensing would be useful for many applications, ranging from human-friendly robots to prosthetics. However, while tactile sensors have been studied since the 1970s, they remain relatively little used in applications. The main challenges are practical: there is a need for ``electronic skins'' that are sensitive, flexible and even stretchable, and robust enough to cover the surfaces of arms and hands with many sensing elements. The devices should have high sensitivity and be multi-modal, i.e., able to report changes in normal and shear stress, as well as temperature and proximity. The sensor skins should also be low cost and robust. The goal of my thesis work is to provide skin-like cutaneous sensing ability to robotic hands. The chapters in this thesis include manufacturing techniques and materials for flexible, low-cost, lightweight, sensitive, robust, and multi-modal sensory skins. The sensors include multiaxial force/torque elements, proximity sensors, and temperature sensors. Briefly, the work presented here provides the following contributions in support of cutaneous sensing: fabrication (patterning and bonding), material (dielectric elastomer), sensing devices (multi-axial and multi-modal sensors, and sensor network), integration (soft robotic skin for manipulation with robotic hands). The first contribution concerns manufacturing techniques to fabricate sensing devices in thin films. The sensors and electrodes are created using an ultraviolet laser to ablate and cut patterns on metalized plastic film. With this computer-aided subtraction-based fabrication process, the sensors and their arrangement are easy to customize for different applications. A titanium-induced bonding technique is also introduced and shown to achieve strong bonding between an electrode and a dielectric layer. The rendered strong adhesion on the interface of the device component allows a robust capacitive sensor to withstand significant shear and rotational loads, which increases the sensor's dynamic range. Next, a material is presented to enhance the sensitivity of capacitive sensing devices. This material is afforded by a combination of a titanium-based solution and a stretchable elastomer. We observed that the titanium oxo network and silicone elastomer matrix composite have the potential to provide stretchability and adhesion for the dielectric, for a robust and sensitive device. Using the developed manufacturing techniques and materials, we next developed multi-modal sensing devices inspired by the human cutaneous sensing system. We explored capacitive multi-axial sensor designs that conform to curved surfaces, allowing them to wrap around the back and sides of a robotic hand. Each taxel measures a combination of normal, shear, and torsional stresses. With active shielding and a microstructured porous dielectric material, the sensor has a desirable combination of wide dynamic range with high resolution (i.e., 0.5 to 500 kPa in the normal direction), relative immunity to electromagnetic noise, and the ability to handle wet and slippery materials, such as tofu or Jell-O. By dynamically changing the patterns and combinations of electrodes sampled, our developed sensor can provide dynamic as well as low frequency tactile information, even when scaled to large areas. Empirical results indicate that our sensor can detect changes in grasp force and events such as making or breaking contact and the onset of linear or torsional sliding. An additional development consists of a low-cost, stretchable Kirigami sensor network for soft robotic devices. Soft robotic hands can facilitate human-robot interaction by allowing robots to grasp a wide range of objects safely and gently. However, their performance has been hampered by a lack of suitable sensors. To address this, we developed a multi-modal sensor network integrated with a soft robotic hand. The manufacturing approach uses UV laser ablation to create sensor patterns and UV laser cutting for stretchable interconnections in a Kirigami pattern. Temperature and proximity sensors are combined into a single network. We evaluated both the interconnects and sensors by measuring the impedance change to external stimuli and observed that sensor readings are not substantially affected by stretching the interconnects. We tested several interaction scenarios, including identifying hot and cold water bottles, a warm burrito for food handling, and a warm baby-like doll for future medical applications with the sensor sheet wrapped around a soft robotic gripper. Our demonstrations showed that robotic hands can have cutaneous sensing that provides robust and reliable multi-modal information. In summary, we have fabricated sensing devices and networks using laser ablation and reliable bonding techniques. The multi-axial and multi-modal cutaneous sensing devices are demonstrated on two robotic platforms. The first is a gripper that manipulates a variety of fragile and slippery foods. The second is a soft robotic hand that measures temperature while maintaining gentle contact. Collectively, our experimental results show that feedback from the tactile sensors enables robots to identify contact stimuli in support of an improved understanding of objects and the environment with which they are interacting.

Aerospace America

Aerospace America Book
Author : Anonim
Publisher : Unknown
Release : 2003
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Download Aerospace America book written by , available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.