Latest Papers

ASME Journal of Mechanisms and Robotics

  • Mechanical Characterization of Supernumerary Robotic Tails for Human Balance Augmentation
    on August 31, 2023 at 12:00 am

    AbstractHumans are intrinsically unstable in quiet stance from a rigid body system viewpoint; however, they maintain balance, thanks to neuro-muscular sensory control properties. With increasing levels of balance related incidents in industrial and ageing populations globally each year, the development of assistive mechanisms to augment human balance is paramount. This work investigates the mechanical characteristics of kinematically dissimilar one and two degrees-of-freedom (DoF) supernumerary robotic tails for balance augmentation. Through dynamic simulations and manipulability assessments, the importance of variable coupling inertia in creating a sufficient reaction torque is highlighted. It is shown that two-DoF tails with solely revolute joints are best suited to address the balance augmentation issue. Within the two-DoF options, the characteristics of open versus closed loop tails are investigated, with the ultimate design selection requiring trade-offs between environmental workspace, biomechanical factors, and manufacturing ease to be made.

Data-Driven Dynamics Modeling and Control Strategy for a Planar n -DOF Cable-Driven Parallel Robot Driven by n + 1 Cables Allowing Collisions


Scholars have proposed to allow collisions of cables with the base, the end-effector, or obstacles to expand the workspace of cable-driven parallel robots (CDPRs) in recent years. However, allowing collisions also leads to new challenges in kinematics and dynamics modeling for CDPRs. To this end, this article focuses on a planar fully constrained n-degree-of-freedom (DOF) CDPR driven by n + 1 cables allowing collisions and develops a data-driven dynamics modeling strategy. The data-driven dynamics modeling strategy can address the collisions and optimal tension distribution issues simultaneously. Based on the data-driven dynamics modeling strategy, this article proposes a data-driven dynamics-based control strategy for the planar CDPR allowing collisions. A planar two-DOF CDPR prototype driven by three cables is established to evaluate the data-driven dynamics modeling strategy and data-driven dynamics-based control strategy.

Read More

Journal of Mechanisms and Robotics Open Issues