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Development of in-vivo rabbit model of human finger skin injuries for determining safety criteria for human-robot contact |
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Tatsuo Fujikawa, Kazumi Okai(Nihon University, Japan), Yoji Yamada(Nagoya University, Japan), Nader Rajaei(Technical University of Munich, Germany), Tetsuya Nishimoto(Nihon University, Japan) |
| An in-vivo rabbit model was developed to enable experiments for deciding the safety criteria for finger skin injuries during human-robot collaboration. By CT and MR imaging, the forearms and the lower legs of rabbits were confirmed to have dimensions similar to the human fingers. Test equipment was developed to reproduce the dynamic pinching of fingers by a wedge-shaped impactor and a flat-ended cylindrical impactor at a velocity of 250 mm/s with a contact duration shorter than 100 ms. The skin opening and the bruising were investigated after the experiments. The model was confirmed to be applicable to the experiments for deciding the safety criteria. |
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Control and Actuation Optimization of Hyper-Vacuum Artificial Muscles |
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Altair Coutinho, Hugo Rodrigue(Sungkyunkwan University, Canada) |
| The Hyper Vacuum Artificial Muscle contains two chambers, and being able to produce a large range of force, lifting heavy payloads, up to 80 kg, its actuation could be improved by controlling its deformation, and actuation speed by making use of the pressure equilibrium between these two chambers as the building block for advanced fluidic strategies. A diaphragm pump, a single pneumatic regulator and a linear sensor can be used to control the position of the actuator. Additionally, through closed-loop pneumatic actuation, the actuator can be driven by exchanging air between the two chambers, allowing it to operate using a single pump without requiring air exchange with the environment. |
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Development of Agri-Bot for seed sowing automation |
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Vijay Pandey, Vijay Kumar Gupta, Tanuja Sheorey(PDPM IIITDM Jabalpur, India) |
| For the farmers having smaller land, owing to non-affordability of hired workers and machines, present practice is to perform ploughing and sowing manually. The requirement here is development of low cost, low maintenance agricultural machine that caters to the need of marginal farmers working single handedly.
One of the major areas is automation in seed sowing process from ploughing the soil to covering it after seed sowing. In conventional seed sowing process, it is not easy to get proper seed spacing. Moreover, the process causes loss of precious seeds. The existing available machines such as seed drill does not allow change in the seed spacing required for different crops. Authors att |
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String Lifetime Evaluation of Twisted String Actuators-Applied to a Soft-Wearable Robot |
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Guhyun Kang, Joongeup Kye, Minsu Cho(Sunmoon University, Korea), Hosup Shim(Defense Reliability Research Center, Korea) |
| Twisted String Actuators (TSAs) are used in many areas of robotics. Some studies have used strings, such as ultra-high molecular weight polyethylene strings, commonly called Dyneema strings. The twist tensile tester was specially designed to evaluate the strings in TSAs. In addition, the lifetimes of 14 string types and diameters (from 1.0 to 2.0mm) manufactured by four companies (Armare, Gottifredi, Liros, and Alpha Ropes) were evaluated using an experimental device. The experimental conditions were a motor rotation speed of 2500 rpm, stroke of 10%(25mm), 20% (50 mm), and 30%(75mm), and loads of 9, 15, 20, and 25kg. The rest of the times at the upper lower strokes were 1s. This study record |
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Novel Bio-inspired Artificial Muscle using Shape Memory Alloy Wire in Spiral Winding |
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Hussein Fouad Mohamed Ali(Hanbat National University- Benha University, Korea), Youngshik Kim(Hanbat National University, Korea) |
| This paper presents novel design of artificial muscle using single Shape Memory Alloy (SMA) wire wound in spiral pattern. Actuator features two parallel spirals with roller bearings arranged in hexagonal topology for guidance, enabling contraction-driven linear motion (25 mm stroke, 7 kgf load).
SMA's heating-induced contraction triggers motion, while cooling restores initial position.
System identification and PID control ensure precise trajectories.
Innovation lies in spiral architecture addressing SMA limitations, showcasing practical application of SMA technology. |
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A Mobile Manipulator for Logistic Applications |
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Arshman Amer Awan, Osama Aftab Usman, M. Zubair Khan(Institute of Space Technology, Pakistan), Usman Ghafoor(Pusan National university, Korea), M. Raheel Bhutta(University of UTAH, Asia Campus, Incheon, Korea) |
| The use of intelligent automated devices has become essential in carrying out numerous operations and tasks in order to achieve maximum efficiency and increased output. This study examines the key distinctions between autonomous robotic assembly and conventional automation, concentrating on the methods used for identifying, acquiring, handling, aligning, and assembling parts. Robotic manipulators that operate autonomously provide a high level of flexibility and the capacity to deal with system uncertainties, unknowns, and exceptions. In addition, mobile manipulation, which entails synchronized movement of the robot's base and joints, allows for fine control over the motion of the arm. |
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