A robot testbed for writing Chinese and Japanese calligraphy characters is presented. Single strokes of the calligraphy characters are represented in a database and initialized with a scanned reference image and a manually chosen initial drawing spline. A learning procedure uses visual feedback to analyze each new iteration of the drawn stroke and updates the drawing spline such that every subs...

Purpose – To present an open architecture for real-time sensory feedback control of a dual-arm industrial robotic cell. The setup is composed of two industrial robot manipulators equipped with force/torque sensors and pneumatic grippers, a vision system and a belt conveyor. Design/methodology/approach – The original industrial robot controllers have been replaced by a single PC with software ru...

In this paper an adaptive neuro fuzzy inference system based on interval Gaussian type-2 fuzzy sets in the antecedent part and Gaussian type-1 fuzzy sets as coefficients of linear combination of input variables in the consequent part is presented. The capability of the proposed method (we named ANFIS2) to function approximation and dynamical system identification is shown. The ANFIS2 structure ...

Previous studies have proposed methods for admittance and impedance control for a finger-arm robot using the manipulability of the finger. Based on the previous theories, the authors have proposed an admittance control for a multifinger arm robot using the manipulability of the fingers in this study. Two 3-DOF fingers are attached to the end-effector of a 6DOF arm to configure a multi-finger ar...

in order to determine the stability of underwater robots, their governing differential equations of motion in vertical and horizontal planes should be investigated. for horizontal plane stability, using routh stability criterion, four hydrodynamic coefficients, including derivatives of the lateral force and vertical moment with respect to sway and angular velocity are required. these coefficien...

BCI-based robot rehabilitation framework for stroke patients Background & objective Stroke is a leading cause of long-term motor disability among adults. Current rehabilitative interventions often do not help patients with severe motor impairment. Significant functional recovery after a year is rare despite novel interventional approaches for application in the chronic stage such as bilateral a...

In this study, we took advantage of the emergence accurate biomechanical human hand models to develop a system in which interaction between arm and rehabilitation robot while performing planar trajectory tracking task can be simulated. Seven were based on 11-degree-of-freedom Dynamic Arm Simulation model implemented OpenSim. The was developed MatlabSimulink achieved using OpenSim API. tested by...

As people further develop space with advanced technology, robots have played a significant role in on-orbit servicing missions. Space can carry out more risky and complicated missions less cost than astronauts. Dual-arm perform complex effectively single-arm robots. Since the coupled dynamics between free-floating base arms exist robots, accurate coordinate control of is essential. Spacecraft r...