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This paper presents the design of a three-axial force/torque sensor which is used for the measurement of the contact force on the probe of the arthroscopy. The orthogonal test is used to optimize the size of the flexor of the sensor. According to the size gotten from the test, the deformation under the stress is analyzed by ANSYS, then the locations where(More)
Kinematically redundant robots have some advantages when compared with classic ones because they have the redundant degrees of freedom to optimize the performance of the robot system. Base on gradient projection method, the problems of redundant robot force control are studied in this paper. A co-simulation platform using ADAMS and Matlab is built for(More)
A Trajectory planning method for a mobile manipulator is proposed in this paper. The mobile manipulator studied here consists of a mobile platform and a redundant manipulator. Since the system has the redundant degree of freedom to perform some tasks, it will have infinite configurations to make the end-effector track the desired trajectory. The concept of(More)
Based on the special structure of a 7-DOF humanoid manipulator and its characteristics of self-motion, we propose a novel inverse kinematics solution using the geometric method at the level of position. The self-motion of the redundant manipulator is demonstrated and is used to solve the inverse kinematics. The method is concise and easy to realize, and the(More)
A variable stiffness actuator is proposed according to the human ergonomic joint actuation mechanism and applied to an elbow rehabilitation robot. The robot employs an antagonistic compliant driving actuation to ensure rehabilitation training effectiveness and the patient's safety even under the condition of spasm. The robot joint stiffness and position can(More)
Herein, we report a photocatalytic heterojunction device of rutile TiO2 nanorod arrays based on a p-n silicon junction (TiO2@PN) and its full absorption of ultraviolet and visible light for synergistic photodegradation. The fabricated TiO2@PN had excellent photocatalytic degradation of methyl orange (MO) under irradiation of a 300 W Xe lamp, and its(More)
To analyze kinematic characteristics of the 5-DOF nuclear robot, the forward kinematics equations are established through Denavit-Hartenberg (D-H) method. The working space of robot is drawn out in Matlab according to Monte Carlo method and the inverse kinematic equations are established through the Paul's inverse transforms. In view of the missing(More)
Flexible driving with variable stiffness is very significant in improving the safety of robot. This paper makes simulation analysis and experimental verification for variable stiffness actuator. The closed-loop servo control system based on Trio motion controller on the basis of analyzing the structure and motion of variable stiffness actuator with(More)
Flexible driving is essential in enhancing security during human-robot interactions and improving the adaptability of robots to complex environments. Based on these principles, we developed a variable stiffness actuator with automatic rigidity/ compliance switching. The actuator contains two motors-one for position control and the other for adjusting the(More)
Multi-sensory virtual guides are proposed in this paper to assist human operator to improve the quality, accuracy and speed of the executed teleoperation tasks with the power of virtual reality. Three categories of virtual guides: visual, acoustic and haptic virtual guides are designed and implemented in detail. A task-oriented virtual guides configuration(More)
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