We present a general framework for modeling a class of mechanical systems for robotic manipulation, consisting of articulated limbs with redundant tendinous actuation and unilateral constraints. Such systems, that include biomorphically designed devices, are regarded as a collection of rigid bodies, interacting through connections that model both joints and contacts with virtual springs. Method...

Series elastic actuation has often been proposed as a mechanism for energy recovery in legged robots [1]. By storing and releasing energy in springs similarly to how tendons function in mammals, it is expected that the energetic efficiency of a robot can be significantly improved. This thesis has been demonstrated in simulation for a variety of systems, ranging from more conceptual spring loade...

In this paper we present a developmental framework to carry out goal-oriented learning in a low-dimensional space. The framework uses two stages of learning: one to synthesise a set of motor synergies and reduce the dimensionality of the control space in an unsupervised manner, and another to carry out supervised learning in the reduced control space. We test our framework in a reaching task ca...

Research into robotic grasping and manipulation has led to the development of a large number of tendon based end effectors. Many are, however, developed as a research tool, which are limited in application to the laboratory environment. The main reason being that the designs requiring a large number of actuators to be controlled. Due to the space and safety requirements, very few have been deve...

results in 41 of 186 (22%) hands, the palmaris longus tendon was absent and absence of the fifth flexor digitorum tendon was noted in eight (4.30 %). the median surface area in the hands without palmaris longus was meaningfully lower than the hands with it (p = 0.025), while the difference in the median surface area was not statistically significant with regard to presence of the fifth flexor d...

TThe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. This paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. As a novelty, the proposed controller employs a simple Gaussian Radial-Basis-Function Network as an uncertainty estimator. The proposed netw...

in this study, the role of local injection of butyric acid (ba) with autogenous omental graft was evaluated in healing of experimental achilles tendon injury in rabbits. nine adult male new zealand rabbits were anesthetized and a partial thickness tenotomy was created on both hindlimbs. in treated group, omental graft was secured in place using ba soaked polygalactin 910 suture. in control grou...

In this study, the problem of navigation in dynamic and unknown environment is investigated and a navigation method based on force field approach is suggested. It is assumed that the robot performs navigation in...

With soft robotics being increasingly employed in settings demanding high and controlled contact forces, recent research has demonstrated the use of robots to estimate or intrinsically sense forces without requiring external sensing mechanisms. While this mainly been shown tendon-based continuum manipulators deformable comprising push–pull rod actuation, fluid drives still pose great challenges...

This paper presents simulation and experimental results of position-based visual servoing control process of a 6R robot using 2 fixed cameras. This method has the ability to deal with real time changes in the relative position of the target-object with respect to robot. Also, greater accuracy and independency of servo control structure from the target pose coordinates are the additional advanta...