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Torque Tracking Control of a Haptic Master Featuring Controllable Magnetorheological Fluid |
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Seung-Hyun Choi, Jong-Seok Oh, Sang-Rock Lee, Pyung-Wha Kim, Soo-Min Kim, Seung Bok Choi(Inha university, Republic of Korea) |
| This paper presents newly developed 4-degrees-of-freedom (4-DOF) haptic master associated with controllable magneto-rheological (MR) fluid for robot-assisted minimally invasive surgery (RMIS). In RMIS, the proposed master can be used as a haptic interface in order to restore sense of touch, including recovery of kinesthetic and kinetic information. By utilizing MR fluid, the proposed haptic master can easily generate bi-directional repulsive torque. The proposed master is composed of two actuators: MR bi-directional clutch with planetary gear system and MR clutch with bevel gear system. |
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Gesture based master-slave controller for a social humanoid robot |
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Sunatthra Jariyawattanakul, Thavida Maneewarn(King Mongkut's University of Technology Thonburi, Thailand) |
| Gesture based master-slave controller for a social humanoid robot
(Sunatthra Jariyawattanakul and Thavida Maneewarn)
In this paper, a master-slave control system for a humanoid robot for social interaction tasks is proposed. The master-controller is a desktop anthropomorphic controller device that can gather set of joint angles for two arms(7 joints in each arm) in real-time when it is manipulated by an operator and the head motion command is acquired using a 9 axis IMU embedded in the hat worn by an operator. The master-controller is designed to be used with different humanoid... |
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Collision Detection for Safe Human-Robot Cooperation of a Redundant Manipulator |
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Sang-Duck Lee, Jae-Bok Song(Korea university, Republic of Korea) |
| In this study, we propose a collision detection method that can be used to distinguish collisions from intended task force at the end-effector. To this end, we developed a collision detection index that is decoupled from the intended external force applied for human-robot cooperation. The proposed method was verified through several experiments, and experimental results show that collisions can be detected regardless of the presence of physical contact between humans and robots for cooperation. |
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Screening Test Robot for Functional Decline of Shoulder Joint |
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Keita Kamada, Noritaka Sato, Yoshifumi Morita, Hiroyuki Ukai(Nagoya Institute of Technology, Japan), Kenji Komori, Shinya Taguchi(Hokuto Hospital, Japan) |
| In this paper, we propose a screening test robot for prevention and early detection of functional decline of the shoulder joint. For this purpose, we used a three-dimensional reaction force display robot that executed a method for quantitatively evaluating shoulder joint functions. We propose procedures for implementing the two kinds of screening tests using the 3D robot, and we developed a control method. We verified the effectiveness of the proposed screening robot in executing these procedures, the control method, and the quantitative evaluation method. |
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Location Classification of Detected Pedestrian |
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Joko Hariyono, Van-Dung Hoang, Kang-Hyun Jo(University of Ulsan, Republic of Korea) |
| This paper proposes a method to detect pedestrians from a single camera mounted on the vehicle then classify the location of the pedestrian for driver assistance system. The system consists of three stages. First, moving objects are detected using optical flows method. Second, HOG features descriptor and linear SVM are used to recognize pedestrians from detected moving objects. Third, a heuristic method is proposed to classify the location of the detected pedestrian using region properties of the image. The performance shown the best recognition and classification rate are 99.3% and 92.40%. |
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Improvement of Knee Flexion and Extension Simulation Accuracy in KneeRobo |
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Qichang Qi, Yoshie Maeda, Kazunori Yamazaki, Noritaka Sato, Yoshifumi Morita, Hiroyuki Ukai(Nagoya Institute of Technology, Japan), Kouji Sanaka(CLINICAL STUDY SUPPORT, Inc, Japan) |
| This paper proposes a new control method that improves the simulation accuracy of KneeRobo’s knee joint movements. This is accomplished by developing a control algorithm and designing a pulley arrangement that facilitates realization of involuntary movements such asinternal/external rotation and abduction/adduction during knee flexion and extension by KneeRobo.The results of experimental comparison with the actual knee joint movements of a healthy person confirm that the knee joint movements simulated by the improved KneeRobo are accurate. |
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