Design of an Under-Actuated Exoskeleton System for Walking Assist While Load Carrying

This study proposes an under-actuated wearable exoskeleton system to carry a heavy load. To synchronize that system with a user, a feasible modular-type wearable system and its corresponding sensor systems are proposed. The design process of the modular-type exoskeleton for lower extremities is presented based on the considered requirements. To operate the system with the user, human walking analysis and intention signal acquisition methods for actuating the proposed system are developed. In particular, a sensing data estimation strategy is applied to synchronize the exoskeleton system with a user correctly. Finally, several experiments were performed to evaluate the performance of the proposed exoskeleton system by measuring the electromyography signal of the wearer's muscles while walking on level ground and climbing up stairs with 20- to 40-kg loads, respectively.     

Development of a single-master multi-slave tele-micromanipulation system

This paper proposes the development of a human–robot cooperative tele-micromanipulation system through a network. We have developed a novel single-master (PHANToM haptic device) multi-slave (6-d.o.f. parallel manipulator) scaled tele-micromanipulation system which enables human operators to perform meso or small-size object manipulation such as assembly or manufacturing with sufficient telepresence. It is expected to improve the human's operability and the overall dexterity of conventional tele-micromanipulation systems. To overcome the problems of the multiple parallel mechanism manipulator, virtual kinematic mapping is considered, based on the manipulability analysis of the workspace. The pick-and-place experiment results prove the validity of the developed single-master multi-slave system.     

Intention-based walking support for paraplegia patients with Robot Suit HAL

This paper proposes an algorithm to estimate human intentions related to walking in order to comfortably and safely support a paraplegia patient's walk. Robot Suit HAL (Hybrid Assistive Limb) has been developed for enhancement of a healthy person's activities and for support of a physically challenged person's daily life. The assisting method based on bioelectrical signals such as myoelectricity successfully supports a healthy person's walking. These bioelectrical signals, however, cannot be measured properly from a paraplegia patient. Therefore another interface that can estimate a patient's intentions without any manual controller is desired for robot control since a manual controller deprives a patient of his/her hand freedom. Estimation of a patient's intentions contributes to providing not only comfortable support but also safe support, because any inconformity between the robot suit motion and the patient motion results in his/her stumbling or falling. The proposed algorithm estimates a patient's intentions from a floor reaction force (FRF) reflecting a patient's weight shift during walking and standing. The effectiveness of this algorithm is investigated through experiments on a paraplegia patient who has a sensory paralysis on both legs, especially his left leg. We show that HAL supports the patient's walk properly, estimating his intentions based on the FRF, while he keeps his own balance by himself.     

Observer-Based Dynamic Control of an Underactuated Hand

The purpose of this paper was to construct a velocity observer based on the dynamic model and realize accurate dynamic curve and force control. Curve fitting with the observer obtained precise velocity signals. Compared with PID and factored moment methods, it decreased the fitting errors a lot and achieved ideal results. Compensated with the inverse dynamic equation, the force-based impedance control with the observer could not only realize accurate force tracking, but achieve finger dynamic control by the combination of curve fitting and force tracking. Furthermore, a static grasp model was established for appropriate force distribution. The finger could grasp slippery, fragile, comparatively heavy and large objects like an egg with only base joint torque and position sensors, which illustrated that the hand could accomplish difficult tasks by using the static grasp model and dynamic control.     

Object Category Acquisition by Dynamic Touch

The acquisition of object categories which underlie the human lexicon is a prerequisite for domestic robots to communicate with users in a human-like manner. The theory of J. J. Gibson inspires the approach to obtain shared categories through interaction with the shared environment, where explorative behaviors of infants play the role of obtaining distinctive features of objects to shape their categories. Although several existing studies have reproduced the exploratory behaviors of infants by robots to investigate their roles in acquiring such categories, those active categorization methods utilized static touches and the recognition tended to fail by changes of contact conditions. This paper introduces another possible approach to object categorization — object category acquisition by dynamic touch. Dynamic touch (e.g., shaking) provides the agent with the information of the whole object to enable quick and robust recognition. The amplitude spectrum of auditory data which humans obtain during shaking is found to be an effective feature for identifying the object categories of differing dynamics, e.g., rigid objects, paper materials and bottles of water, even though the objects within each category vary in size, shape, amount and contact conditions. Experimental results are given to show the validity of the proposed method and future issues are discussed.     

Force and acceleration sensor fusion for compliant manipulation control in 6 degrees of freedom

This paper focusses on sensor fusion in robotic manipulation: six-dimensional (6-D) force/torque signals and 6-D acceleration signals are used to extract forces and torques caused by inertia. As result, only forces and torques established by environmental contact(s) remain. Apart from an improvement of hybrid force/pose control behavior, an additional major benefit is that regular resetting/zeroing of force/torque sensors before free space/contact transitions can be omitted. All essential equations, transformations and calculations that are required for this 6-D fusion approach are derived. To highlight the meaning for practical implementations, numerous experiments with a six-joint Staeubli RX60 industrial manipulator are presented and the achieved results are discussed.     

Surface morphology of styrene-butadiene rubber vulcanizate filled with novel electron beam modified dual phase filler by atomic force microscopy

Topographic and phase imaging in tapping mode atomic force microscopy (TMAFM) has been performed to investigate the effect of unmodified and modified dual phase fillers on the morphology of and the microdispersion of the filler particles in the rubber matrix. The above fillers were modified using acrylate monomer (trimethylol propane triacrylate, TMPTA) or a silane coupling agent (triethoxysilylpropyltetrasulphide, Si-69) followed by electron beam modification at room temperature. Both unmodified and surface treated fillers were incorporated in a styrene-butadiene rubber. The phase images of the above composites show three levels of contrasts that correspond to matrix, filler aggregates, and bound rubber around the filler aggregates. Also, the images further elucidate the aggregated nature of the filler due to modification, which is more pronounced in the case of electron beam modified acrylated filler loaded rubber. The corresponding topographic images have been characterized by various statistical quantities like roughness parameters and one- and two-dimensional power spectral densities (1D-PSD and 2D-PSD). As compared to the control, significant increase in surface roughness is observed in the case of the modified dual phase filler loaded composites. The higher fractal value of these vulcanizates confirms the above fact. AFM study also suggests that the electron beam modification of the above fillers significantly increases the filler-filler and filler-polymer interactions.     

Surface structure of silane-treated glass beads and its influence on the mechanical properties of filled composites

The surface treatment of glass beads, chosen as a model filler, was carried out using four different silane coupling agents with multilayer coverage. For this purpose, silanes having an aminopropyl or a methacryloxypropyl group as an organofunctional group with di- or tri-alkoxy structures were used. The amount of silane detected on the bead surface was four to six times that required for a monolayer coverage. The topography of the silane layer on the bead surface was observed using an atomic force microscope. The topography was strongly affected by the composition of the silane solution and the number of alkoxy groups in the silane. The effects of the organofunctional group and the number of alkoxy groups of the silanes on the mechanical properties of bead-filled poly(vinyl chloride), chosen as a typical ductile polymer, were investigated. A higher yield stress was observed for the silane with an aminopropyl group than for that with a methacryloxypropyl group. Furthermore, for each organofunctional group, the yield stress was higher for the silane with a dialkoxy structure than for that with a trialkoxy structure. However, their effects on the elongation-at-break were contrary to the above tendencies.     

Prospect of nanoscale interphase evaluation to predict composite properties

For meeting the requirements of lightweight and improved mechanical properties, composites could be tailor-made for specific applications if the adhesion strength which plays a key role for improved properties can be predicted. The relationship between wettability and adhesion strength has been discussed. The microstructure of interphases and adhesion strength can be significantly altered by different surface modifications of the reinforcing fibers, since the specific properties of the interphase result from nucleation, thermal and/or intrinsic stresses, sizing used, interdiffusion, and roughness. The experimental results could not confirm a simple and direct correlation between wettability and adhesion strength for different model systems. The main objective of the work was to identify the interphases for different fiber/polymer matrix systems. By using phase imaging and nanoindentation tests based on atomic force microscopy (AFM), a comparative study of the local mechanical property variation in the interphase of glass fiber reinforced epoxy resin (EP) and glass fiber reinforced polypropylene matrix (PP) composites was conducted. As model sizings for PP composites, γ-aminopropyltriethoxysilane (APS) and either polyurethane (PU) or polypropylene (PP) film former on glass fibers were investigated. The EP-matrix was combined with either unsized glass fibers or glass fibers treated with APS/PU sizing. It was found that phase imaging AFM was a highly useful tool for probing the interphase with much detailed information. Nanoindentation with sufficiently small indentation force was found to be sufficient for measuring actual interphase properties within a 100-nm region close to the fiber surface. Subsequently, it also indicated a different gradient in the modulus across the interphase region due to different sizings. The possibilities of controlling bond strength between fiber surface and polymer matrix are discussed in terms of elastic moduli of the interphases compared with surface stiffness of sized glass fibers, micromechanical results, and the mechanical properties of real composites.