This paper aims to present the critical issues and methodologies to improve robotic machining performance with flexile industrial robots. Design/methodology/approach – A complete solution using active force control is introduced to address various issues during the robotic machining process. Programming complex couture parts without a CAD model is made easy by using force control functions such...

A new software module for cardiovascular rehabilitation in robotics-assisted treadmill exercise is described; it is designed to evaluate and improve aerobic capacity for individuals with different neurological diseases. The Lokomat device was used in conjunction with a breath-by-breath cardiopulmonary monitoring system and a heart rate monitoring module to quantify the subjects’ exercise intens...

According to the independence, accuracy and controllability of the driving/braking torque of the distributed drive electric vehicle, a control strategy of differential drive assisted steering was designed. Firstly, the assisted curve under different speed and steering wheel torque was developed and the differential torques were distributed to the right and left front wheels. Then the steering r...

This paper compares two “steady-hand” type systems. The first is an admittance-controlled, non-backdriveable cooperative manipulation system, in which the robot and the operator simultaneously grasp and manipulate a tool. The second is a pair of haptic interfaces configured for unilateral teleoperation. A recently developed pseudoadmittance control law is applied to the master device, which att...

Series elastic actuators have been widely used in humanrobot interactive systems due to their high controllability and improved human experience. One such system is the powered ankle exoskeleton. In [1], the torque control of a tethered ankle exoskeleton with a coil spring (Fig. 1) was investigated, which showed that the combination of model-free, integration-free feedback control and iterative...

Impedance control enables humans to effectively interact with their environment during postural and movement tasks, adjusting the mechanical behavior of their limbs to account for instability. Previous work has shown that people are able to selectively modulate the end-point stiffness of their arms, adjusting for varying directions of environmental disturbances. Behavioral studies also suggest ...

Introduction: Although, the effect of direct intra-articular injection of bone marrow stem cells (BMSCs) on the repair of articular cartilage and the effect of Elaeagnus angustifolia extract on pain relief in patients with osteoarthritis have been investigated, no studies has been conducted to compare the effects of these two therapeutic methods on the mechanical properties of articular cartila...

In this study the current usage of each associated joint of a humanoid robot (NAO) during stand up process is analyzed. This study is the extension of our previous study [1] where the energy consumption of single and overall joints of a NAO robot during the walking process was researched while keeping the same stiffness values for all joints. This paper analyzes current stiffness relation of in...

Humans demonstrate an impressive ability to manipulate fragile objects without damaging them, graciously controlling the position of hands and tools while managing contact forces as necessary for the task. Robot control has been characterized by position control with the aim of producing fast, accurate and repeatable motion. These capabilities have reached a level where robots often outperform ...

Previous work has shown that virtual fixtures applied to cooperative manipulation systems improve performance in tracking tasks. However, if a user wishes to move away from the nominal path, the stiffness of the virtual fixture should be adjusted to increase the level of user control. Our experiments show that modifying the stiffness of a soft virtual fixture can improve a user’s performance, m...