AIMC Topic: Friction

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Nonprehensile Manipulation of Parts on a Horizontal Circularly Oscillating Platform with Dynamic Dry Friction Control.

Sensors (Basel, Switzerland) Aug 19, 2021
This paper presents a novel method for nonprehensile manipulation of parts on a circularly oscillating platform when the effective coefficient of dry friction between the part and the platform is being dynamically controlled. Theoretical and experime...
Electronics Motion Friction Models, Theoretical Robotics
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Customizing Robot-Assisted Passive Neurorehabilitation Exercise Based on Teaching Training Mechanism.

BioMed research international May 31, 2021
Passive movement is an important mean of rehabilitation for stroke survivors in the early stage or with greater paralysis. The upper extremity robot is required to assist therapists with passive movement during clinical rehabilitation, while customiz...
Male Middle Aged Robotics Adult Biomechanical Phenomena Exercise Therapy Torque Arm Equipment Design Stroke Motion Humans Algorithms Female Aged Physical Therapy Modalities Stroke Rehabilitation Friction Neurological Rehabilitation Range of Motion, Articular Upper Extremity
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Force-Free Control for Direct Teaching of a Surgical Assistant Robot End Effector with Wire-Driven Bidirectional Telescopic Mechanism.

Sensors (Basel, Switzerland) May 17, 2021
This paper shows the design and modeling of an end effector with a bidirectional telescopic mechanism to allow a surgical assistant robot to hold and handle surgical instruments. It also presents a force-free control algorithm for the direct teaching...
Torque Friction Mechanical Phenomena Surgical Instruments Robotics
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Elastohydrodynamic friction of robotic and human fingers on soft micropatterned substrates.

Nature materials Apr 29, 2021
Frictional sliding between patterned surfaces is of fundamental and practical importance in the haptic engineering of soft materials. In emerging applications such as remote surgery and soft robotics, thin fluid films between solid surfaces lead to a...
Humans Lubrication Robotics Elasticity Friction
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Implementation of anisotropic soft pads in a surgical gripper for secure and gentle grip on vulnerable tissues.

Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine Nov 25, 2020
Current surgical grippers rely on friction grip, where normal loads (i.e. pinch forces) are translated into friction forces. Operating errors with surgical grippers are often force-related, including tissue slipping out of the gripper because of too ...
Friction Robotics Equipment Design Mechanical Phenomena Hand Strength
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Light-steered locomotion of muscle-like hydrogel by self-coordinated shape change and friction modulation.

Nature communications Oct 14, 2020
Many creatures have the ability to traverse challenging environments by using their active muscles with anisotropic structures as the motors in a highly coordinated fashion. However, most artificial robots require multiple independently activated act...
Friction Muscle, Skeletal Biomimetics Robotics Nanogels Locomotion
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Rapid two-anchor crawling from a milliscale prismatic-push-pull (3P) robot.

Bioinspiration & biomimetics Sep 11, 2020
Many crawling organisms such as caterpillars and worms use a method of movement in which two or more anchor points alternately push and pull the body forward at a constant frequency. In this paper we present a milliscale push-pull robot which is capa...
Friction Biomechanical Phenomena Robotics Locomotion
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Detachment of the remora suckerfish disc: kinematics and a bio-inspired robotic model.

Bioinspiration & biomimetics Aug 21, 2020
Remora suckerfish can attach to a wide diversity of marine hosts, however, their detachment mechanism remains poorly understood. Through analyzing high-speed videos, we found that the detachment of the live remora (Echeneis naucrates) is a rapid beha...
Stress, Mechanical Computer Simulation Suction Friction Biomechanical Phenomena Adhesives Behavior, Animal Fishes Animals Ascomycota Robotics Biomimetics Hydrodynamics Surface Properties Perciformes
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SBOR: a minimalistic soft self-burrowing-out robot inspired by razor clams.

Bioinspiration & biomimetics Jul 7, 2020
We observe that the Atlantic razor clam (Ensis directus) burrows out of sand rapidly by simply extending and contracting its muscular foot. This is notably different from its well-known downward burrowing strategy or the dual-anchor mechanism, where ...
Bivalvia Motion Biomimetics Animals Robotics Behavior, Animal Soil Locomotion Biomechanical Phenomena Friction
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Using a Variable-Friction Robot Hand to Determine Proprioceptive Features for Object Classification During Within-Hand-Manipulation.

IEEE transactions on haptics Dec 9, 2019
Interactions with an object during within-hand manipulation (WIHM) constitutes an assortment of gripping, sliding, and pivoting actions. In addition to manipulation benefits, the re-orientation and motion of the objects within-the-hand also provides ...
Proprioception Friction Robotics Touch Perception Humans Machine Learning Hand Motor Activity
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