The paper focuses on design and control of a new anthropomorphic robot arm enabling the torque measurement in each joint to ensure safety while performing tasks of physical interaction with human and environment. When the contact of the robot arm with an object occurs, local admittance algorithm provides active compliance of corresponding robot arm joint. Thus, the whole structure of the manipu...

Among the many types of actuation for robotic systems, Pneumatic Artificial Muscle (PAM) is one of the most credible and efficient classes providing high tension forces, high power density, rapid response and high power-to-weight ratio, as well as features like cleanliness and low cost. However, drawbacks such as high level of nonlinearity and time varying characteristics make this class of act...

We have developed a haptic-based approach for retraining of interjoint coordination following stroke called time-independent functional training (TIFT) and implemented this mode in the ARMin III robotic exoskeleton. The ARMin III robot was developed by Drs. Robert Riener and Tobias Nef at the Swiss Federal Institute of Technology Zurich (Eidgenossische Technische Hochschule Zurich, or ETH Zuric...

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...

139 Abstract— A self-collision algorithm of two arms has been developed for a developed dual arm robot manipulator. Because the developed dual arm robot is supposed to do a job of complex task which needs cooperative motion of two arms. In this complex task, self-collision of two arms can occur. In this paper, developed self-collision avoidance algorithm to prevent the limbs of the dual arm rob...

In this paper, a voice command system for a robot arm (manipulator) is designed as a part of a research project. The methodology adopted is based on a hybrid technique used in automatic speech recognition system. To implement the approach on a real-time application, a Personal Computer interface was designed to control the movements of a five degree of freedom robot arm by transmitting the orde...

We applied Reinforcement Learning on a real robot arm, in order to control its movements. The arm is actuated by two pneumatic artificial muscles, that expose a highly non-linear behavior. To enable a significant speed-up of the learning process, an empirical simulation is constructed, based on real robot observations. Furthermore, we introduce a learning strategy to facilitate learning. Using ...

This paper proposes a remote operation method for a robot arm in a complex environment by using the Virtual Force (VF) based approach. A virtual robot arm is manipulated by a steering force, at the end-effecter, which is generated according to the movement of a feedback haptic. A three-dimensional force field (3D-F) is employed in collision detection and avoidance. Repulsive forces from the 3D-...

The present paper will impose a driving strategy for a particular nonlinear system, for example for a robot consists of a single segment, which has a flexible hinge. Transmission is more accurate, with a line size of the input provided by engine torque. Because of the robot arm speed can not be measured accurately one estimate the desired state through an Observer system. System that is intende...

Inverse kinematics computation using an artificial neural network that learns the inverse kinematics of a robot arm has been employed by many researchers. However, conventional learning methodologies do not p a y enough attention to the discontinuity of the inverse kinematics system of typical robot arms with joint limits. The inverse kinematics system of the robot arms, including a human arm w...