This paper presents finite element models of the fingertip skin which have been created to simulate the contact of textile objects with the skin to gain a better understanding of the perception of textiles through the...This paper presents finite element models of the fingertip skin which have been created to simulate the contact of textile objects with the skin to gain a better understanding of the perception of textiles through the skin, the so-called hand of textiles. Many objective and subjective techniques have already been developed for analysing the hand of textiles;however, none of them provide exact overall information concerning the sensation of textiles through the skin. As the human skin is a complex heterogeneous hyperelastic body composed of many particles, some simplifications had to be made at the early stage of building the models;however, their utilitarian value was maintained. The models relate only to mechanical loading of the skin. They predict a low deformation of the fingertip skin under the pressure of virtual heterogeneous material: acrylic, coarse wool, and steel.展开更多
A new design of robot gripper with electrorheological fluid (ERF) semiactive tips is described. There are two remarkable properties using this fingertip. One is the higher lifting capability at little grasp force, whi...A new design of robot gripper with electrorheological fluid (ERF) semiactive tips is described. There are two remarkable properties using this fingertip. One is the higher lifting capability at little grasp force, which can realize stable grasp. Another is the damping controllable which can be used for controlling contact forces. A viscoelastic plastic model for normal direction of the fingertip is proposed to explore the contact behavior. The electric field strength is induced into the dynamic model of contact transition for simulations. The simulation results and conclusions are given.展开更多
Visual servoing is an active and popular area of research among roboticists.Eventhough visual servoing techniques enhance the perfomance,the associated systems still use traditional methods for their input control.Man...Visual servoing is an active and popular area of research among roboticists.Eventhough visual servoing techniques enhance the perfomance,the associated systems still use traditional methods for their input control.Many research activities and applications have been carried out to implement effective and precise controlling of bilateral systems.This paper presents a 3D spresctroscope-based control technique for bilateral systems.The effectiveness of the available master side designs are evaluated against gesture-based techniques.Joystick control,Electromyography(EMG),Voice control,Haptic control,Exoskeleton control,Gesture and Brain Control Interface(BCI)are identified in the litreature as available bilateral inputs.In the present technnique,Leap Motion Controller(LMC)has been introduced(LMC)to extract the human hand gestures and their parameters.Then these parameters are convereted into respective joint sapce angles using the presented mathematical model.The mathematical models for fingertip mapping,inverse kinematics,dynamics and trajectory generation are implemented and studied.Wolfman Mathematica 10 and MATLAB simulation framework are used to validate the mathematical models,simulations and developed control algorithms.The developed system has sucesfully imitated the fingertip motion.In particular,the system has been able to imitate the figretip motion with a deviation of 6.7%in X axis,5.5%in Y axis and7.9%in Z axis with respect to the expected position.展开更多
文摘This paper presents finite element models of the fingertip skin which have been created to simulate the contact of textile objects with the skin to gain a better understanding of the perception of textiles through the skin, the so-called hand of textiles. Many objective and subjective techniques have already been developed for analysing the hand of textiles;however, none of them provide exact overall information concerning the sensation of textiles through the skin. As the human skin is a complex heterogeneous hyperelastic body composed of many particles, some simplifications had to be made at the early stage of building the models;however, their utilitarian value was maintained. The models relate only to mechanical loading of the skin. They predict a low deformation of the fingertip skin under the pressure of virtual heterogeneous material: acrylic, coarse wool, and steel.
文摘A new design of robot gripper with electrorheological fluid (ERF) semiactive tips is described. There are two remarkable properties using this fingertip. One is the higher lifting capability at little grasp force, which can realize stable grasp. Another is the damping controllable which can be used for controlling contact forces. A viscoelastic plastic model for normal direction of the fingertip is proposed to explore the contact behavior. The electric field strength is induced into the dynamic model of contact transition for simulations. The simulation results and conclusions are given.
文摘Visual servoing is an active and popular area of research among roboticists.Eventhough visual servoing techniques enhance the perfomance,the associated systems still use traditional methods for their input control.Many research activities and applications have been carried out to implement effective and precise controlling of bilateral systems.This paper presents a 3D spresctroscope-based control technique for bilateral systems.The effectiveness of the available master side designs are evaluated against gesture-based techniques.Joystick control,Electromyography(EMG),Voice control,Haptic control,Exoskeleton control,Gesture and Brain Control Interface(BCI)are identified in the litreature as available bilateral inputs.In the present technnique,Leap Motion Controller(LMC)has been introduced(LMC)to extract the human hand gestures and their parameters.Then these parameters are convereted into respective joint sapce angles using the presented mathematical model.The mathematical models for fingertip mapping,inverse kinematics,dynamics and trajectory generation are implemented and studied.Wolfman Mathematica 10 and MATLAB simulation framework are used to validate the mathematical models,simulations and developed control algorithms.The developed system has sucesfully imitated the fingertip motion.In particular,the system has been able to imitate the figretip motion with a deviation of 6.7%in X axis,5.5%in Y axis and7.9%in Z axis with respect to the expected position.
