AIMC Topic: Torque

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Circular Shell Gripper for Handling Food Products.

Soft robotics
Pneumatically driven soft robotic grippers have been extensively studied in recent years. A majority of the grippers, especially those entirely composed of soft materials, can adapt to and handle various objects. However, there are limited studies re...

Design and control of a lower limb rehabilitation robot considering undesirable torques of the patient's limb.

Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine
This research introduces a new exoskeleton-type rehabilitation robot, which can be used in lower limb rehabilitation therapy for post-stroke patients. A novel design of a typical knee and ankle rehabilitation robot is proposed. The kinematic and dyna...

Iterative Learning Control for a Soft Exoskeleton with Hip and Knee Joint Assistance.

Sensors (Basel, Switzerland)
Walking on different terrains leads to different biomechanics, which motivates the development of exoskeletons for assisting on walking according to the type of a terrain. The design of a lightweight soft exoskeleton that simultaneously assists multi...

Multi-Segmentation Parallel CNN Model for Estimating Assembly Torque Using Surface Electromyography Signals.

Sensors (Basel, Switzerland)
The precise application of tightening torque is one of the important measures to ensure accurate bolt connection and improvement in product assembly quality. Currently, due to the limited assembly space and efficiency, a wrench without the function o...

Viscoelastic legs for open-loop control of gram-scale robots.

Bioinspiration & biomimetics
Gram-scale insects, such as cockroaches, take advantage of the mechanical properties of the musculoskeletal system to enable rapid and robust running. Engineering gram-scale robots, much like their biological counterparts, comes with inherent constra...

A lobster-inspired bending module for compliant robotic applications.

Bioinspiration & biomimetics
Ideally, robots may be designed to adapt to different tasks such as heavy lifting and handling delicate objects, in which the requirements in force compliance and position accuracy vary dramatically. While conventional rigid actuators are usually cha...

Proprioceptive Estimation of Forces Using Underactuated Fingers for Robot-Initiated pHRI.

Sensors (Basel, Switzerland)
In physical Human-Robot Interaction (pHRI), forces exerted by humans need to be estimated to accommodate robot commands to human constraints, preferences, and needs. This paper presents a method for the estimation of the interaction forces between a ...

Haptic-Guided Teleoperation of a 7-DoF Collaborative Robot Arm With an Identical Twin Master.

IEEE transactions on haptics
In this article, we describe two techniques to enable haptic-guided teleoperation using 7-DoF cobot arms as master and slave devices. A shortcoming of using cobots as master-slave systems is the lack of force feedback at the master side. However, rec...

Compact Series Visco-Elastic Joint (SVEJ) for Smooth Torque Control.

IEEE transactions on haptics
The design and control of a new series-viscous-elastic joint are presented. The proposed joint consists of 3D printed parts compressing nonlinear elastic silicone springs. The use of silicone springs is the main novelty of the system; they exhibit in...

The Effect of Optic Flow Speed on Active Participation During Robot-Assisted Treadmill Walking in Healthy Adults.

IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society
This study aimed to investigate: 1) the effect of optic flow speed manipulation on active participation during robot-assisted treadmill walking (RATW), 2) the influence of the type of virtual environment, and 3) the level of motion sickness and enjoy...