A Robust Impedance Controller Design for Series Elastic Actuators using the Singular Perturbation Theory [0.03%]
奇异性摄动理论在串并联弹性驱动器阻抗控制中的应用研究
Dongwon Kim,Kyung Koh,Gun-Rae Cho et al.
Dongwon Kim et al.
Impedance control is capable of further flexibly adjusting the driving-point impedance of series elastic actuators (SEAs) in addition to impedance reduction by the elastic element. This enhances safety and compliance during interaction betw...
Simone Calò,James H Chandler,Federico Campisano et al.
Simone Calò et al.
With significant research focused on integrating robotics into medical devices, sanitary control of pressurizing fluids in a precise, accurate and customizable way is highly desirable. Current sanitary flow control methods include pinch val...
Minimizing Energy Consumption and Peak Power of Series Elastic Actuators: A Convex Optimization Framework for Elastic Element Design [0.03%]
基于凸优化框架的储能元件设计以降低系列弹性作动器的能量损耗和尖峰功率研究
Edgar A Bolívar Nieto,Siavash Rezazadeh,Robert D Gregg th
Edgar A Bolívar Nieto
Compared to rigid actuators, series elastic actuators (SEAs) offer a potential reduction of motor energy consumption and peak power, though these benefits are highly dependent on the design of the torque-elongation profile of the elastic el...
Characterization and Control of a Pneumatic Motor for MR-conditional Robotic Applications [0.03%]
用于MR条件下的机器人应用的气动马达的表征与控制
Yue Chen,Isuru S Godage,Zion Tsz Ho Tse et al.
Yue Chen et al.
Magnetic Resonance (MR) guided interventional robots have recently been developed for a variety of surgeries, such as biopsy, ablation, and brachytherapy. The actuators and encoders that power and track such robots must be MR-conditional. I...
Yue Chen,Alexander Squires,Reza Seifabadi et al.
Yue Chen et al.
MRI-conditional robotic platforms have proved to be an effective approach for image guided interventions. In this study, a computer-assisted, pneumatically-actuated robot was designed, built, and tested for MRI-guided prostate cancer focal ...
Design and Development of the Cable Actuated Finger Exoskeleton for Hand Rehabilitation Following Stroke [0.03%]
基于缆绳驱动的手部康复外骨骼机器人设计与实现
Christopher L Jones,Furui Wang,Robert Morrison et al.
Christopher L Jones et al.
Finger impairment following stroke results in significant deficits in hand manipulation and the performance of everyday tasks. While recent advances in rehabilitation robotics have shown promise for facilitating functional improvement, it r...
Energy Harvesting and Sensing with Embedded Piezoelectric Ceramics in Knee Implants [0.03%]
嵌入式压电陶瓷膝关节假体的能量采集和传感技术
Mohsen Safaei,R Michael Meneghini,Steven R Anton
Mohsen Safaei
The knee replacement is one of the most common orthopedic surgical interventions in the United States; however, recent studies have shown up to 20% of patients are dissatisfied with the outcome. One of the key issues to improving these oper...
Shreyas Bhaban,Saurav Talukdar,Mingang Li et al.
Shreyas Bhaban et al.
Optical tweezers have enabled important insights into intracellular transport through the investigation of motor proteins, with their ability to manipulate particles at the microscale, affording femto newton force resolution. Its use to rea...
Motorized Micro-Forceps with Active Motion Guidance based on Common-Path SSOCT for Epiretinal Membranectomy [0.03%]
基于同轴SS-OCT的主动运动引导电动微镊在视网膜前膜切除术中的应用
Gyeong Woo Cheon,Berk Gonenc,Russell H Taylor et al.
Gyeong Woo Cheon et al.
In this study, we built and tested a handheld motion-guided micro-forceps system using common-path swept source optical coherence tomography (CP-SSOCT) for highly accurate depth controlled epiretinal membranectomy. A touch sensor and two mo...
Minkyun Noh,Wolfgang Gruber,David L Trumper
Minkyun Noh
We present a new concept of bearingless slice motor that levitates and rotates a ring-shaped solid rotor. The rotor is made of a semi-hard magnetic material exhibiting magnetic hysteresis, such as D2 steel. The rotor is radially biased with...