This paper proposes a Myo device that has electromyography (EMG) sensors for detecting electrical activities from different parts of the forearm muscles; it also has a gyroscope and an accelerometer. EMG sensors detect and provide very clear and important data from muscles compared with other types of sensors. The Myo armband sends data from EMG, gyroscope, and accelerometer sensors to a comput...

Abstract: Robotic manipulators have been widely used in many arenas, when the robotic arm performs positioning, a traditional controller (e.g., a proportional-integral-derivative, PID controller) has the problem of not being able to compensate the payload variations. When the end-effector of the robotic arm grasps different payload masses as most applications require, the output of joint motion...

ix Deutsche Kurzfassung xi

We present a method for simultaneous Receding Horizon Estimation and Control of a robotic arm equipped with a sword in an adversarial situation. Using a single camera mounted on the arm, we solve the problem of blocking a opponent’s sword with the robot’s sword. Our algorithm uses model-based sensing to estimate the opponent’s intentions from the camera’s observations, while it simultaneously a...

In this report, the authors propose a method of designing behavioral patterns analogically. We applied this method to design a wavelike behavior of a robot arm based on the movement of a snake. In order for the behavioral pattern being designed by the analogical method to have more creativity, we introduced behavioral criteria to extend this behavior design method.

Multifingered robotic hands are attempts to approximate human hand characteristics and functionality, and it is reasonable to consider their possible adaptation and use in prosthetics and rehabilitation. The Belgrade/USC robot hand is used as a prototype prosthetic hand in order to evaluate a system that translates task-level commands into motor commands. Our system, PRESHAPE, uses the virtual ...

The initial pose of the surgical robot and the incision site of the robot arm in laparoscopic cholecystectomy have been be discussed and planned in this system. The arm holding the forceps of da Vinci system could be guided in reference to the virtual laparoscopic camera views of the patient model as in Fig. 1. Once the trocar site is determined, the manipulator makes pivoting motion around the...