M3A Biomechatronics | | M3B | SALA PLATEA | 14:30―15:50 | SALA PASTA | Deirdre Meldrum, USA | CHAIR | George Wang, Canada | Benedetto Allotta, Italy | CO-CHAIR | Jonathan Wu, Canada | The Development of a Novel Biomechatronic Hand — Ongoing Research and Preliminary Results
M.C. Carrozza, S. Micera, B. Massa, M. Zecca, R. Lazzarini, N. Canelli, P. Dario, Scuola Superiore Sant’Anna, Italy
An “ideal” upper limb prosthesis should be perceived as part of the natural body by the amputee and should replicate sensory-motor capabilities of the amputated limb. However, such an ideal “cybernetic” prosthesis is still far from reality: current prosthetic hands are simple grippers with one or two degrees of freedom, which barely restore the capability of the thumb-index pinch. This paper describes the design and fabrication of a novel prosthetic hand based on a “biomechatronic” and cybernetic approach. Our approach is aimed at providing “natural” sensory-motor coordination to the amputee, by integrating biomimetic mechanisms, sensors, actuators and control, and by interfacing the hand with the peripheral nervous … | 14:30―14:50 | On Using a Support Vector Machine in Learning Feed-Forward Control
Bas J. De Kruif, Theo J. A. de Vries, Univ. of Twente, The Netherlands
For mechatronic motion systems, the performance increases significantly if, besides feedback control, also feed-forward control is used. This feed-forward part should contain the (stable part of the) inverse of the plant. This inverse is difiIcult to obtain if non-linear dynamics are present. To overcome this problem, Learning Feed-Forward Control can be applied. The properties of the learning mechanism are of importance in this setting. In this paper, a support vector machine is proposed as the learning mechanism. It is shown that this mechanism has several advantages over other learning techniques when applied to Learning Feed- Forward Control. The method is tested with simulations.
| Biomechanical Considerations on the Design of a Humanoid Shoulder Girdle
N. Klopčar, J. Lenarčič, Institut "Jožef Stefan", Slovenia
The paper presents a comparison between the ranges of motion in the human shoulder complex and in the humanoid robotic shoulder complex developed as a parallel mechanism. The Elite Motion Analyser was used to obtain the three dimensional trajectories of markers attached to the selected anatomical points on the shoulder girdle. The measurements show an asymmetry of the extreme positions in the shoulder girdle and the difference when the arms are stretched downward and when the arms execute an inclination in the plane of the girdle's motion. The mechanism has to be inclined upward and forward for about 10°. The obtained results of the working cone of the arm show that the central axis is inclined about 60° forward in the horizontal plane and 15° upward in the frontal plane. | 14:50―15:10 | A Complex Mechatronic System: from Design to Application
Nicola Tomatis, EPFL, Roberto Brega, ETHZ, Kai Arras, Björn Jensen, Benoit Moreau, Jan Persson, Roland Siegwart, EPFL, Switzerland
Progress in mobile robotics requires the researchers to access and improve all modules that compose the robot, from low-level mechanical components to high-level reasoning systems. This paper presents the development process of the robots built at the Autonomous Systems Lab, EPFL Lausanne, Switzerland. Starting from the mechanical and electrical design up to the application, we show the challenges that needed to be faced as well as the solutions that have been devised. The description covers aspects like the operating system and framework, because of its role in the overall safety and dependability of the whole software system, the research as a precondition for innovative products, and the man-machine machine interface, which is indispensable for conveying information to the user … | Influence of Geometry on the Kinematic Performances of a Humanoid Shoulder-Girdle Mechanism with Clearance in the Joints
V. Parenti-Castelli, S. Venanzi, Università di Bologna, Italy, J. Lenarčič, Institut "Jožef Stefan", Slovenia
In mechanisms with joints affected by clearance the influence of the geometric parameters on the mechanism kinematic performances can be relevant although difficult to predict. The effect of joint clearance is dependent also on the geometry of the pairing elements. This paper focuses on a mechanism of a humanoid shoulder girdle with clearance in the joints and analyzes the influence of geometric parameters on the accuracy of the output link (of the mechanism). The analysis shows that an optimal kinematic design of the mechanism can be achieved with respect to given values of manufacturing tolerances. In addition the influence of each individual clearance-affected pair on the output link accuracy is evaluated …
| 15:10―15:30 | A Framework for Mobile-Service Based Co-ordination of Embedded Web Agents in Intelligent Buildings
Zhi-Gang Deng, Huosheng Hu, University of Essex, UK
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