Advances in bioengineering have led to increasingly sophisticated prosthetic devices for amputees and paralyzed individuals. Control of such devices necessitates real-time classification of biosignals, e.g., electromyographic (EMG) signals recorded from intact muscles. In this paper, we show that a 4-degrees-of-freedom robotic arm can be controlled in real-time using non-invasive surface EMG si...

This paper presents an aerial manipulation robot consisting of a hexa-rotor equipped with 2-DOF (degree freedom) Cartesian base (XY–axes) that supports 1-DOF compliant joint arm integrates gripper and elastic linear force sensor. The proposed kinematic configuration improves the positioning accuracy end effector respect to robotic arms revolute joints, where each coordinate position depends on ...

Introduction Teleoperation is an essential component in fields such as medicine and manufacturing, enabling human operators to interact with remote robotic systems. A wearable device has been designed manufactured enhance sensitivity, wearability, synchronization, providing users the ability experience sensation of grasping virtual objects. Methods The incorporates a 2-DoF arm, haptic sensors f...

This paper presents a novel inverse kinematics solution for robotic arm based on artificial neural network (ANN) architecture. The motion of robotic arm is controlled by the kinematics of ANN. A new artificial neural network approach for inverse kinematics is proposed. The novelty of the proposed ANN is the inclusion of the feedback of current joint angles configuration of robotic arm as well a...

In space application, it is of great interest the development of autonomous or semi-autonomous robotic devices that can substitute the astronauts in routine operations in order to free them from repetitive tasks and reduce mission costs. In this work, an experimental setup based on a 6 degrees of freedom (dof) manipulator with a 3 dof gripper designed for a possible application within PaT, the ...

This letter presents a compliant feedback controller of an arm-equipped spacecraft, which does not enforce requirements on the spacecraft position and attitude. The is applicable to pre-contact, contact, post-contact phases robotic operation. In contrast conventional floating-base strategies, eliminates instability system during steady thus can be used in realistic applications. uses external-i...

The purpose of the senior design project, from the course description of objectives is "To provide students a complete design experience, including the necessity to set design goals and objectives, integrate knowledge, exercise engineering judgment, plan to meet a budget and schedule, to work as a team member, and to communicate in writing." To accomplish these objectives our group, Helping Han...

This paper demonstrates simultaneous identification and control of the humanoid robot, Valkyrie, utilizing Spatial Vector Algebra (SVA). In particular, the inertia, Corioliscentrifugal and gravity terms for the dynamics of a robot are computed using spatial inertia tensors. With the assumption that the link lengths or the distance between the joint axes are accurately known, it will be shown th...

The paper outlines the development of a telerobotic control system with a focus on maximising the versatility of both production equipment and human operators. This was achieved by integrating sensory feedback from end effectors into the human-machine control loop. For most robotic applications, the robot executes a series of point-to-point movements along a predefined path. When an application...