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Inflatable structures are already used in robotics to build stiff and light inflatable links. Moreover, those links are compliant and they can be safely used in robots interacting with critical installations. Nevertheless, until now, linkages with an inflatable structure have always been composed of independent inflatable links separated by joints. But the… (More)
This paper deals with a finite element evaluation of new kind of robotic arm based on a complete inflatable structure. Soft robotics and particularly inflatable robotics are now considered as a credible alternative to classical structures for a wide field of robotics. As they are made of textile materials, inflatable robots allow compact packaging and… (More)
To increase the dependability of complex systems, one solution is to assess their state of health continuously through the monitoring of variables sensitive to potential degradation modes. When computed in an operating environment, these variables, known as health indicators, are subject to many uncertainties. Hence, the stochastic nature of health… (More)
In this paper we design two controllers: a sliding mode controller and a new designed adaptive controller for an under actuated process with important dry friction. The two controllers are compared. Simulations and experiments are performed to evaluate the efficiency of the designed controllers.
This paper describes the application of proper orthogonal decomposition (POD) method in the context of structural health monitoring of a smart structure, bonded with a distributed piezoceramic patches array. Using measurements given by the distributed sensors, we propose a damage index (DI) based on change in angle between subspaces. Furthermore, from… (More)
In this communication, we present a high resolution tactile plate that can localize one or two contact fingers. The localization principle is based on Lamb wave absorption. Fingers' contact will generate absorption signals while Lamb waves are propagating in a thin finite copper plate. These signals can be related to the contact positions and can be… (More)
Most of the humanoid robots are covered with curved thin shells. To have a sensitive shell on the robot, normally we need to add an extra layer of electrodes or sensors. In this paper, we realized a tactile shell based on a Lamb wave diffraction method. Surface-contact sensing is calibrated and tested with a finger; the spatial resolution is 17 × 13… (More)
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Precise identification of structural properties is a vital step towards detection and localization of damage in structures. In this paper the problems of improving accuracy of modal parameter estimates and automatic elimination of spurious modes in covariance driven output-only subspace identification method are addressed. An iterative procedure is… (More)