86,525 research outputs found
Evaluation of an Exoskeleton-based Bimanual Teleoperation Architecture with Independently Passivated Slave Devices
No full textSearch and rescue robotics is becoming a relevant topic in the last years and the growing number of robotic platforms and dedicated projects is the evidence of the interest in this area. In this context, the possibility to drive a remote robot with an exoskeleton is a promising strategy to enhance dexterity, reduce operator effort and save time. However, the use of haptic feedback (bilateral teleoperation) may lead to instability in the presence of communication delay and more complex is the case of bimanual teleoperation where the two arms can exchange energy. In this work, we present a bimanual teleoperation system based on an exoskeletal master, where multi-degrees of freedom (multi-DoFs) and kinematically different devices are involved. In the implemented architecture the two slaves are managed in parallel and independently passivated using the Time Domain Passivity Approach (TDPA) extended for multi-DoFs devices. To investigate the stability of the architecture we designed two tasks highly related to real disaster scenarios: the first one was useful to verify the system behavior in case of small movements and constrained configurations, whereas the second experiment was designed to involve larger contact forces and movements. Moreover, we compared the effect of both delay and low control loop frequency on the stability of the system when TDPA was applied. From the results, it was evident that the overall system exhibited a stable behavior with the use of the TDPA, even passivating the two slaves independently, under simulated time delay and in presence of a low control loop frequency
Identification of gait phases with neural networks for smooth transparent control of a lower limb exoskeleton
No full textLower limbs exoskeletons provide assistance during standing, squatting, and walking. Gait dynamics, in particular, implies a change in the configuration of the device in terms of contact points, actuation, and system dynamics in general. In order to provide a comfortable experience and maximize performance, the exoskeleton should be controlled smoothly and in a transparent way, which means respectively, minimizing the interaction forces with the user and jerky behavior due to transitions between different configurations. A previous study showed that a smooth control of the exoskeleton can be achieved using a gait phase segmentation based on joint kinematics. Such a segmentation system can be implemented as linear regression and should be personalized for the user after a calibration procedure. In this work, a nonlinear segmentation function based on neural networks is implemented and compared with linear regression. An on-line implementation is then proposed and tested with a subject
Transparency evaluation for the Kinematic Design of the Harnesses through Human-Exoskeleton Interaction Modeling
No full textGait Phases Blended Control for Enhancing Transparency on Lower-Limb Exoskeletons
No full textA major challenge in the design and control of exoskeletons is the preservation of the user.s natural behavior when interacting with these machines. From this point of view, one of the most important features is the transparency of the exoskeleton. An ideally transparent exoskeleton follows the user's movements without interaction forces. This is the goal of many control algorithms proposed in the literature. Traditional algorithms are based on finite state machines and are affected by assistive torque discontinuity problems in the transitions between phases. State-of-the-art methods approach this problem by imposing a smooth transition that does not account for variable walking speed. In this work, the authors propose an innovative control algorithm for a lower-limb exoskeleton. The proposed control aims at solving the torque discontinuity problem, without requiring a smooth transitions strategy. The proposed control algorithm continuously blends the output of two independent single stance dynamic models, by weighting the contribution of each stance model to the total assistance based on the gait phase. A linear regressor is used to produce the weights, and it requires a brief user-specific calibration. Results showed a significant reduction of interaction forces, and a longer stride length when compared to two finite-state-machine-based controls at two speeds on the treadmill and one self-selected-speed in an overground walk
Hand Teleoperation with Combined Kinaesthetic and Tactile Feedback: A Full Upper Limb Exoskeleton Interface Enhanced by Tactile Linear Actuators
No full textManipulation involves both fine tactile feedback, with dynamic transients perceived by fingerpad mechanoreceptors, and kinaesthetic force feedback, involving the whole hand musculoskeletal structure. In teleoperation experiments, these fundamental aspects are usually divided between different setups at the operator side: those making use of lightweight gloves and optical tracking systems, oriented toward tactile-only feedback, and those implementing exoskeletons or grounded manipulators as haptic devices delivering kinaesthetic force feedback. At the level of hand interfaces, exoskeletons providing kinaesthetic force feedback undergo a trade-off between maximum rendered forces and bandpass of the embedded actuators, making these systems unable to properly render tactile feedback. To overcome these limitations, here, we investigate a full upper limb exoskeleton, covering all the upper limb body segments from shoulder to finger phalanxes, coupled with linear voice coil actuators at the fingertips. These are developed to render wide-bandwidth tactile feedback together with the kinaesthetic force feedback provided by the hand exoskeleton. We investigate the system in a pick-and-place teleoperation task, under two different feedback conditions (visual-only and visuo-haptic). The performance based on measured interaction forces and the number of correct trials are evaluated and compared. The study demonstrates the overall feasibility and effectiveness of a complex full upper limb exoskeleton (seven limb-actuated DoFs plus five hand DoFs) capable of combined kinaesthetic and tactile haptic feedback. Quantitative results show significant performance improvements when haptic feedback is provided, in particular for the mean and peak exerted forces, and for the correct rate of the pick-and-place task
Variations on the Author
No full text“Variations on the Author” discusses two of Eduardo Coutinho’s recent films (Um Dia na Vida, from 2010, and Últimas Conversas, posthumously released in 2015) and their contribution to the general question of documentary authorship. The director’s filmography is characterized by a consistent yet self-effacing form of authorial self-inscription: Coutinho often features as an interviewer that rather than express opinions propels discourses; an interviewer that is good at listening. This mode of self-inscription characterizes him as an author who is not expressive but who is nonetheless markedly present on the screen. In Um Dia na Vida, however, Coutinho is completely absent form the image, while Últimas Conversas, on the contrary, includes a confessional prologue that moves the director from the margins to the center of his films. This article examines the ways in which these works stand out in the filmography of a director who offers new insights into the notion of cinematic authorship
[Newspaper Clipping: Author Claims Evidence of Second JFK Assassin #1]
No full textNewspaper article titled "Author Claims Evidence of Second JFK Assassin." The article states that author Richard J. Whalen concluded "that there is circumstantial evidence to support the theory of a second assassin in the shooting of President John F. Kennedy.
Also By The Same Author: AKTiveAuthor, a Citation Graph Approach to Name Disambiguation
No full textThe desire for definitive data and the semantic web drive for inference over heterogeneous data sources requires co-reference resolution to be performed on those data. In particular, name disambiguation is required to allow accurate publication lists, citation counts and impact measures to be determined. This paper describes a graph-based approach to author disambiguation on large-scale citation networks. Using self-citation, co-authorship and document source analyses, AKTiveAuthor clusters papers, achieving precision of 0.997 and recall of 0.818 over a test group of eight surname clusters
John F. Kennedy telegram to Roosevelt
No full textJersey Homesteads (later the Borough of Roosevelt) was established in the 1930s as an agro-industrial cooperative community. It was established specifically for urban Jewish garment workers, many of whom had emigrated from Europe. President John F. Kennedy sent a telegram to the citizens of Roosevelt, New Jersey, apologizing for not being able to attend the memorial dedication in honor of former President Franklin Delano Roosevelt. (Jersey Homesteads became Roosevelt in 1945 in honor of the president.) President Kennedy expressed his gratitude to the people of Roosevelt for constructing the memorial, and commented that it will serve as a constant reminder of Roosevelt's good works
Logarithmic variance profiles and the corresponding f-1 spectra of temperature fluctuations in turbulent Rayleigh-Bénard convection
No full textWe report experimental results for the temperature variance 2(z) and the corresponding frequency spectra P(f) in turbulent Rayleigh-Bénard convection (RBC) in a cylindrical sample of aspect ratioT= D/L = 1:00 (D = 1:12 m is the diameter and L = 1:12 m the height). The measurements were conducted in the Rayleigh-number range 1011 < Ra < 1:35 1014 and Pr ' 0:8. For Ra = 1:35x1014, 2(z) could be described well by a logarithmic dependence on the vertical position z in a range of z 1 < z < z 2 with z 1 ' 70 and z 2 = 0:1L. Here L=(2Nu) is the thickness of a thin thermal sublayer adjacent to the horizontal plate where the heat flux (denoted by the Nusselt number Nu) is carried mostly by thermal diffusion. In the log layer, we found that the temperature spectra had a significant frequency range over which P(f) f with close to 1. As Ra decreased, increased so that the log layer became thinner. At Ra = 2:05 1011, z 2 < z 1 and therefore there was no range for a log layer. Correspondingly, the temperature spectrum near the horizontal plate did not have the f1 scaling form either
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