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Register a new userDesign and Evaluation of a Hair Combing System Using a General-Purpose Robotic Arm
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Added by
Nathaniel Dennler
Publication date
2021
fields
Informatics Engineering
and research's language is
English
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This work introduces an approach for automatic hair combing by a lightweight robot. For people living with limited mobility, dexterity, or chronic fatigue, combing hair is often a difficult task that negatively impacts personal routines. We propose a modular system for enabling general robot manipulators to assist with a hair-combing task. The system consists of three main components. The first component is the segmentation module, which segments the location of hair in space. The second component is the path planning module that proposes automatically-generated paths through hair based on user input. The final component creates a trajectory for the robot to execute. We quantitatively evaluate the effectiveness of the paths planned by the system with 48 users and qualitatively evaluate the system with 30 users watching videos of the robot performing a hair-combing task in the physical world. The system is shown to effectively comb different hairstyles.
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The development of robotic-assisted extracorporeal ultrasound systems has a long history and a number of projects have been proposed since the 1990s focusing on different technical aspects. These aim to resolve the deficiencies of on-site manual manipulation of hand-held ultrasound probes. This paper presents the recent ongoing developments of a series of bespoke robotic systems, including both single-arm and dual-a
Time synchronization is a critical task in robotic computing such as autonomous driving. In the past few years, as we developed advanced robotic applications, our synchronization system has evolved as well. In this paper, we first introduce the time synchronization problem and explain the challenges of time synchronization, especially in robotic workloads. Summarizing these challenges, we then present a general hardware synchronization system for robotic computing, which delivers high synchronization accuracy while maintaining low energy and resource consumption. The proposed hardware synchronization system is a key building block in our future robotic products.
In recent times, developments in field of communication and robotics has progressed with leaps and bounds. In addition, the blend of both disciplines has contributed heavily in making human life easier and better. So in this work while making use of both the aforementioned technologies, a procedure for design and implementation of a mobile operated mechanical arm is proposed, that is, the proposed arm will be operated via a cellular device that connects with the receiver mounted on the robotic arm. Moreover, over the duration of a call, if any key is pressed from the cellular device than an indicator indistinct to the key pressed is noticed at the receiver side. This tone represents superimposition of two distinct frequencies and referred to as DTMF (dual tone multi-frequency). Further, the mechanical arm is handled via the DTMF tone. Also, the acquired tone at the receiver is taken into a micro-controller (ATMEGA16) using the DTMF decipher module i.e. MT8870. Further, the decipher module unwinds the DTMF signal into its corresponding two bit representation and then the matched number is transmitted to the micro-controller. The micro-controller is programmed to take an action based on the decoded value. Further, the micro-controller forwards control signals to the motor driver unit to move the arm in forward/backward or multi-directional course. Lastly, the mechanical arm is capable of picking and placing objects while being controlled wirelessly over GSM (Global System for Mobile Communications).
Rapid robotic system development sets a demand for multi-disciplinary methods and tools to explore and compare design alternatives. In this paper, we present collaborative modeling that combines discrete-event models of controller software with continuous-time models of physical robot components. The presented co-modeling method utilized VDM for discrete-event and 20-sim for continuous-time modeling. The collaborative modeling method is illustrated with a concrete example of collaborative model development of a mobile robot animal feeding system. Simulations are used to evaluate the robot model output response in relation to operational demands. The result of the simulations provides the developers with an overview of the impacts of each solution instance in the chosen design space. Based on the solution overview the developers can select candidates that are deemed viable to be deployed and tested on an actual physical robot.
The compliance of soft robotic arms renders the development of accurate kinematic & dynamical models especially challenging. The most widely used model in soft robotic kinematics assumes Piecewise Constant Curvature (PCC). However, PCC fails to effectively handle external forces, or even the influence of gravity, since the robot does not deform with a constant curvature under these conditions. In this paper, we establish three-dimensional (3D) modeling of a multi-segment soft robotic arm under the less restrictive assumption that each segment of the arm is deformed on a plane without twisting. We devise a kinematic and dynamical model for the soft arm by deriving equivalence to a serial universal joint robot. Numerous experiments on the real robot platform along with simulations attest to the modeling accuracy of our approach in 3D motion with load. The maximum position/rotation error of the proposed model is verified 6.7x/4.6x lower than the PCC model considering gravity and external forces.
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