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Design of Mechanical Compensation System for Hand Tremor of The Old People |
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Mohammad Zubair, Seul Jung(Chungnam National University, Korea) |
| Physiological hand tremor is one of the common problems seen in old people. In this paper, a flexure-based tremor compensation device is proposed as a table top that acts as a support for hand to suppress tremor. The flexure is designed based on the tremor dynamics data. FE simulation is conducted to study the performance of the flexure mechanism. Using the in-house developed tremor generation device, the flexure mechanism study was conducted and compared with the rigid base. The study shows that the flexure mechanism compensates for tremor better. |
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Pose Estimation of 5-DOF Manipulator using On-Body Markers |
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Sree Sailaja Sowmya Katta(Indian Institute Of Technology, Delhi, India), Adnan Jawed, Sumantra Dutta Roy, Chetan Arora, Subir Kumar Saha(INDIAN INSTITUTE OF TECHNOLOGY DELHI, India) |
| Recently, a number of procedures and databases for vision-based estimation of object pose have been advised. However, it is not clear about the performance of the developed algorithms for visual pose estimation of robot manipulation. In this paper we present the pose estimation of a 5-dof robot arm using on-body markers. This paper implements an approach aimed at estimating the pose of a camera, affixed to a robotic manipulator, against a target object. We adopt a single camera single-shot technique that minimizes the reprojection error over all the rigid poses. The simulation and experimental results using industrial monocular camera for different sizes of on-body markers were presented. |
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Ring Reinforced Silicone based Steering Head for Endoscopy like Applications FEM simulation, development and force characterization |
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Debadrata Sarkar(CSIR-Central Mechanical Engineering Research Institute, Durgapur, India), Sagnik Chakraborty(Bengal College of Engineering and Technology, Durgapur, India), Aman Arora, Soumen Sen(CSIR-Central Mechanical Engineering Research Institute, Durgapur, India) |
| Physically interactive applications like tissue sampling have become essential in present day minimally invasive endoscopy/colonoscopy. This calls for specialized navigation heads with force exertion ability maintaining inherent softness and steerability. This article presents development of a soft hyperelastic material based pneumatically actuated steering head with O-ring reinforcements for bending and extension operations, enabling needle insertion with enhanced stiffness and stability. The actuator has undergone detailed analysis and characterization through simulation for workspace and force capabilities followed by experimental validation. |
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A Novel Lidar Technology of Autonomous Mobile Robots for Automating Intralogistics |
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V. Siva Brahmaiah(Kyungpook National University, Korea), Lone Faisal(Mewar University, India), Jung-Min Yang(Kyungpook National University, Korea) |
| This paper addresses a novel design configuration of intelligent control for an autonomous mobile robot (AMR) working in intralogistics with an emphasis on the sensor scheme. Embedded with Lidar technology and smart chart flow simulated in MATLAB software, the proposed AMR achieves visual tracking in indoor environments. The cross-analysis of our study shows that proposed AMR working in smart warehouses and smart distribution systems may play a great role in the intralogistics in efficient manner, possibly leading to less emission of carbon for ecological and environmental balance. The present study focuses on the development of a reliable smart warehouse system integrated with the proposed |
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Mechanical Joint Design for Gravity Compensation of a Robot Manipulator |
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Mohammad Zubair(CNU, Korea), Seul Jung(Chungnam National University, Korea) |
| In this paper, a parallelogram mechanism is presented for the gravity compensation of a human arm like-robot manipulator. The arm mimics a human arm having three degrees-of freedom. A gravity compensation system is synthesized to compensate for the self-weight of the system. The design challenge of making a miniature compensation system is also discussed. The joints were designed using a ball bearing and fabricated using 3D printer technology. Experimental studies of compensating gravity are provided to confirm the parallelogram design. |
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Variable Stiffness Magnetically Steerable Manipulator using Graphene Polylactic Acid |
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Joowon Park, Sukho Park(DGIST, Korea) |
| In this research, we proposed a variable stiffness magnetically steerable manipulator in which its stiffness is varying by a thermal actuated phase transition material. Graphene polylactic acid (GPLA) was selected as the phase transition material due to its biocompatibility and processability. And, several experiments and numerical simulations were conducted to verify the variable stiffness and magnetic steering performances of the proposed manipulator. As a result, we verified that the proposed manipulator can demonstrate its improved performance compared to previous research. |
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