Neural networks : the official journal of the International Neural Network Society
Sep 14, 2023
Contact torque sensing allows robot manipulators to cooperate with humans and detect accidental collisions in real time to ensure safety. Most sensorless torque estimation schemes, which are based on linear observer approaches, cannot compromise betw...
Sensors (Basel, Switzerland)
Sep 6, 2023
Inverse dynamics from motion capture is the most common technique for acquiring biomechanical kinetic data. However, this method is time-intensive, limited to a gait laboratory setting, and requires a large array of reflective markers to be attached ...
PloS one
Aug 16, 2023
This paper aims to concurrently select and control off-the-shelf BLDC motors of industrial robots by using a synergistic model-based approach. The BLDC motors are considered with trapezoidal back-emf, where the three-phase (a,b,c) dynamics of motors ...
Computer methods in biomechanics and biomedical engineering
Jun 14, 2023
Physiotherapy is a treatment that may be required permanently by many patients. As a result, a robot that can execute physiotherapy exercises for the legs like a professional therapist with adequate performance and acceptable safety may be efficient ...
Bioinspiration & biomimetics
May 16, 2023
Kangaroo rats are well known as representative hoppers in small-scale animals. Especially kangaroo rats show rapid movement when a predator approaches. If this amazing motion can be applied to small-scale robots, they will be able to traverse lands a...
Sensors (Basel, Switzerland)
Nov 19, 2022
Laparoscopic procedures have become indispensable in gastrointestinal surgery. As a minimally invasive process, it begins with primary trocar insertion. However, this step poses the threat of injuries to the gastrointestinal tract and blood vessels. ...
Sensors (Basel, Switzerland)
Nov 3, 2022
Exploration of the seabed may be complex, and different parameters must be considered for a robotic system to achieve tasks in this environment, such as soil characteristics, seabed gait, and hydrodynamic force in this extreme environment. This paper...
Science robotics
Oct 26, 2022
Biohybrid bacteria-based microrobots are increasingly recognized as promising externally controllable vehicles for targeted cancer therapy. Magnetic fields in particular have been used as a safe means to transfer energy and direct their motion. Thus ...
Science robotics
Aug 31, 2022
The limited force or torque outputs of miniature magnetic actuators constrain the locomotion performances and functionalities of magnetic millimeter-scale robots. Here, we present a magnetically actuated gearbox with a maximum size of 3 millimeters f...
Advanced science (Weinheim, Baden-Wurttemberg, Germany)
Aug 4, 2022
Owing to programmable nonlinear dynamics, magnetic domain wall (DW)-based devices can be configured to function as spintronic neurons, promising to execute sophisticated tasks as a human brain. Developing energy-efficient, CMOS compatible, reliable, ...