The Mars Science Laboratory Robotic Arm (MSL RA) is a critical, single–fault-tolerant mechanism in the MSL science mission that must deliver 5 of the rover’s 12 science instruments to the Martian surface. This paper will describe the design, build, and test methodology which evolved as the science payload matured over the course of the 4-year project. Lessons learned based on the EM and Flight ...

We introduce a robotic wheelchair that can move with a companion collaboratively to facilitate easy communication between them. The system uses the Laser Range Sensor attached horizontally on the companion’s shoulder level for observing the companion’s position to follow him/her. The system tracks the companion’s position and orientation to move with the companion and to avoid collision with hi...

This paper presents a novel inverse kinematics solution for robotic arm based on artificial neural network (ANN) architecture. The motion of robotic arm is controlled by the kinematics of ANN. A new artificial neural network approach for inverse kinematics is proposed. The novelty of the proposed ANN is the inclusion of the feedback of current joint angles configuration of robotic arm as well a...

The use of coordinated multi-arm robotic systems allows to preform manipulations of heavy or bulky objects that would otherwise be infeasible for a single-arm robot. This paper concisely introduces our work on coordinated multi-arm control [Salehian et al., 2016a], where we proposed a virtual object based dynamical systems (DS) control law to generate autonomous and synchronized motions for a m...

Most robotic grasping tasks assume a stationary or xed object. In this paper, we explore the requirements for tracking and grasping a moving object. The focus of our work is to achieve a high level of interaction between a real-time vision system capable of tracking moving objects in 3-D and a robot arm equipped with a dexterous hand that can be used pick up a moving object. We are interested i...

Advances in bioengineering have led to increasingly sophisticated prosthetic devices for amputees and paralyzed individuals. Control of such devices necessitates real-time classification of biosignals, e.g., electromyographic (EMG) signals recorded from intact muscles. In this paper, we show that a 4-degrees-of-freedom robotic arm can be controlled in real-time using non-invasive surface EMG si...

Most robotic grasping tasks assume a stationary or fixed object. In this paper, we explore the requirements for tracking and grasping a moving object. The focus of our work is to achieve a high level of interaction between a real-time vision system capable of tracking moving objects in 3-D and a robot arm with gripper that can be used to pick up a moving object. There is an interest in explorin...

We have developed a 3D vision-based semiautonomous assistive robot arm control method, called AROMA-V, to provide intelligent robotic manipulation assistance to individuals with impaired motor control. A working prototype AROMA-V was built on a JACO robotic manipulator combined with a low-cost short-range 3D depth-sensing camera. In performing actual robotic manipulation tasks with the AROMA-V,...

Inverse Kinematic (IK) model of Dexter ER2 Robotic Arm and its implementation using wireless embedded system for object sorting application was presented in this work. Dexter ER2 Robotic Arm is a vertical articulated serial robot arm built by using DC servo motors. IK modeling of robot arm was carried out in PC by using geometric method which determines the joint angles of the robot arm for req...

Robot-assisted movement training improves arm movement ability following acute and chronic stroke. Such training involves two interacting processes: the patient trying to move and the robot applying forces to the patient's arm. A fundamental principle of motor learning is that movement practice improves motor function; the role of applied robotic forces in improving motor function is still uncl...