64 research outputs found
Visuo-Otolithic and Electrodermal Interactions in Experimental 3D Environments
No full textAmong the components of the ANS (Autonomic Nervous System), electrodermal activity variations (EDA) are less involved in self-motion. However, from neuroanatomical point of view, EDA variations are essentially modulated by sympathetic endings that are interconnected with the vestibular system. The aim of the present study was to analyse the latencies for reporting vertical self-motion (upward and downward) and the variations of electrodermal activity in healthy adults (17 men and 18 women aged 22 years old on average; sd 1 year and 2 month) when they were visually exposed to an experimental 3D environment via a head mounted display (HMD). The results revealed that the otolithic saccular maculae contribute differently to latencies and electrodermal activations. When self-motion was towards earth gravity, latencies and electrodermal activity were shorter in downward self-motion than in upward self-motion. We suggest that a top-down organisation connected with the visuo-otolithic information along the vertical axis, which essentially contributes to self-position, equilibrium and body-consciousness, could provide a neuromorphic model to improve space location and representation of humanoid robots
Graphic analysis of the linear and angular momentum of a dynamically balanced 1-dof pantographic linkage
No full textThis article presents a graphical analysis method for the verification of the gravity force balance and shaking force and shaking moment balance of a 1-DoF pantographic linkage. First the joint velocities of the linkage are graphically found of which the procedure is well known. To obtain the linear and angular momentum graphically, the mass and inertia of each element are modeled with two equivalent masses about the center of mass of the element, resulting in a mass and inertia equivalent model with solely point masses. The velocities of these point masses are obtained and each velocity vector is multiplied with the respective mass value to obtain vectors that represent the linear momentum. For force balance it is shown that the sum of all linear momentum vectors form a polygon. Subsequently the linear momentum vectors with their moment arms are transferred into an angular momentum diagram which for moment balance shows to sum up to zero.Accepted Author ManuscriptMechatronic Systems Desig
Development of Modular Compliant Anthropomorphic Robot Hand
No full textThe chapter presents the development of a modular compliant robotic hand characterized by the anthropomorphic structure and functionality. The prototype is made based on experience in development of contemporary advanced artificial hands and taking into account the complementary aspects of human bio-mechanics. The robot hand developed in the Institute Mihailo Pupin is called “Pupin hand”. The Pupin hand is developed for research purposes as well as for implementation with service and medical robot devices as an advance robot end-effector. Mechanical design, system identification, modeling and simulation and acquisition of the biological skill of grasping adopted from humans are considered in the chapter. Mechanical structure of the tendon-driven, multi-finger, 23 degrees of freedom compliant robot hand is presented in the chapter. Model of the hand is represented by corresponding multi-body rigid system with the complementary structural elasticity inserted between the particular finger modules. Some characteristic simulation results are given in the chapter in order to validate the chosen design concept. For the purpose of motion capture of human grasping skill, an appropriate experimental setup is prepared. It includes an infrared Kinect camera that combines visual and depth information about objects from the environment. The aim of using the Kinect sensor is to acquire human grasping skill and to map this natural motion to the robotic device. The novelties of the robot hand prototyping beyond to the state-of-the-art are stressed out in the conclusion
Studies Regarding the Development of Integrated Microgrippers Models Design Based on the PLM Systems
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Sustainable Potentials and Risks Assess in Automation and Robotization Using the Life Cycle Management Index Tool—LY-MIT
No full textIn product generation management, the assessment for sustainability, together with risks potential, requires a holistic life cycle management approach, especially when it comes to the question of obsolete management of components. But, so far, the economic impact or benefit of such life cycle related activities is not always obvious. This paper presents a complex approach to identify company unexploited resources by offering the performance exploration of a novel capability and innovative tool named the LifecYcle-Managerial Index Tool (LY-MIT), in order to allow detailed visualization for a company, using seven clustered capabilities in respect to key areas. The assisted analysis of the strength and weakness enables manufacturers, as well as industrial end-users, to sustainably assess and evaluate the productivity potentials and risks of possible life cycle related improvements to their installed base. The research team used the tool on almost 300 sample companies group to identify the robustness of the tool in implementing sustainable change required measurements, mostly based on a self-assessment questionnaire about their capabilities. Only the approach and the results of this instrument usage are presented in this paper
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