13 accepted papers
Motion planning for robotic manipulators is a fundamental problem in robotics. Classical optimization-based methods typically rely on the gradients of signed distance fields (SDF) to impose collision-avoidance constraints. However, these methods are susceptible to local minima and may fail when the …
The nonlinearities of soft robots bring control challenges like hysteresis but also provide them with computational capacities. This letter introduces a fuzzy pneumatic physical reservoir computing (FPRC) model for feedforward hysteresis compensation in motion tracking control of soft actuators. Our
Hysteresis brings challenges to both the control and state perception of soft robots. This work proposes a real-time gain-scheduled feedforward proportional controller design and a Physical Reservoir Computing (PRC) model to address hysteresis effects in the motion control and unobstructed state est
Soft robotics is a swiftly evolving field. Pneumatic actuators are suitable for driving soft robots because of their superior performance. However, their control is challenging due to the hysteresis characteristics. In response to this challenge, we propose an adaptive control method to compensate f
One of the recent developments in physical reservoir computing, which uses the complex dynamics of a physical system as a computational resource, is the use of a pneumatic pipeline system as a computational resource. This uses the dynamics of air for computation, and because it is lightweight and po…
Wearable gait assistive devices have been im-proved by soft robotics in terms of safety and physical burden of the wearer. Currently, electrical sensors and computers around the wearer are bottlenecks in enhancing the wearer's activities. In this paper, we present a wearable gait assistive system us…
In this study, we developed a selective driving joint forceps (SDJF) for laparoscopic surgery. The SDJF has a mechanism that the driving joints can be selected arbitrarily, therefore each joint doesn't require an individual actuator for operating. The developed SDJF has six joints that can be operat…
A method to improve quality of life of elderly people is to increase muscle strength. The purpose of this study is to develop a machine to improve muscle strength effectively. In this paper, we proposed a muscle strength training machine that exerts variable resistance using pneumatic artificial rub…
In this study, a robotic forceps with a wrist joint using visual SLAM for joint angle sensing was developed. The forceps has a flexible joint connected to the wrist joint at its rear end and the motion of the rear joint is driven by a parallel linkage. A monocular camera attached on the rear of the…
Motor skill learning is fundamental in many physical activities of human. In the processes of learning of motor skills, learners often receive visual or physical information about postures from teachers. However, the information about postures usually cannot be transmitted precisely. In this paper,…
Surgical robot systems increase the operability and efficiency of laparoscopic surgery. Forceps manipulators with the diameter less than 3mm can drastically reduces the invasion to the patient, compared to those used in current robot systems with the diameter of 5mm or more. In this paper, we propos
In this paper, a lightweight master interface for a surgical robot system is proposed. The position of the human hand is measured by a non-contact motion tracker, but the force feedback is realized by a handheld haptic device. A gripping force is displayed by a pneumatic bellows, which is smaller an…
Development of intuitive user interface of a dexterous forceps with wrist joint for minimally-invasive surgery (MIS) is important for reducing the surgeon's confusion and fatigue. In this paper, a wearable robotic forceps manipulator is proposed. By measuring the wrist attitude of the surgeon by a m…