Hybrid Control for robots in contact with the environment is intended to separately impose end-effector motion and contact force along different directions, determined on the base of an available environment model. Since measured forces and velocities in practice do not agree exactly with the model, some filtering procedure is required for recovering consistence, before the control phase. In th...

right angled component C 1. For the moment, let us ignore frictional forces. C 1 is firmly attached to a gripper, as indicated in the figure by the ground symbol. The vector g indicates the direction of a uniform gravity field. In the orientation shown in Figure 1(a), the assembly is unstable under the influence of gravity. Gravitational forces produce a downward translational motion on compone...

We investigated the use of a new haptic device called the DigiHaptic in a 3D steering task. Unlike other devices intended to interact in 3D with one end-effector, the DigiHaptic has three levers that the user may handle simultaneously or not in elastic mode to rate control objects. We compared it to the SpaceMouse another elastic device to evaluate the influence that degrees of freedom (DOF) se...

The impedance matrices of independent point fingers of a multifingered gripper map to the impedance matrix of a grasped workpart. We find that in a planar geometry, three fingers are enough to allow an unrestricted range of workpart impedances, if finger impedances are selectable. In a spatial geometry however, five fingers are necessary for the broadest range of workpart impedances, and even s...

An approach to make use of available potentials of uncalibrated vision-guided robots is introduced. It allows the robot to manipulate differently shaped objects that may be located anywhere in its workspace, even if they are not visible in the initial fields of view of the cameras. Key points of the approach are the conversion of passive "watching" into active "seeing", so that the fields of ca...

This work deals with the problem of end-effector trajectory modification for a robot manipulator when it must respond to unexpected changes in target location. Trajectory modification and corrections are particularly important in dealing with dynamic tasks. In this paper, we present and discuss the superposition strategy derived from the study of arm trajectory modification in human subjects. A...

the role of microbiota in health and disease is the subject of rigorous investigation. several studies have demonstrated that microbiota and the pattern-recognition receptors contribute to intestinal tumourigenesis; the exact mechanism of which is still obscure. myd88 is the downstream effector of all toll-like receptors (tlrs) except tlr3. however, the alternative myd88-independent pathway is ...

This paper addresses the problem of manipulating three-dimensional objects with a reconng-urable gripper. A detailed analysis of the problem geometry in connguration space is used to devise a simple and eecient algorithm for manipulation planning. The proposed approach has been implemented and preliminary simulation experiments are discussed.

This work performs an experimental study on the legibility of paths executed by a manipulation arm available on a Baxter robot. In this context, legibility is defined as the ability of people to effectively predict the target of the arm’s motion. Paths that are legible can improve the collaboration of robots with humans since they allow people to intuitively understand the robot’s intentions. E...

A framework for the analysis and control of manipulator systems with respect to the dynamic behavior of their end-effectors is developed. First, issues related to the description of end-effector tasks that involve constrained motion and active force control are discussed. The fundamentals of the operational space formulation are then presented, and the unified approach for motion and force cont...