Journal articles: 'Anthropomorphic kinematics'

1

Petrescu, Florian Ion Tiberiu, and Relly Victoria Virgil Petrescu. "ABOUT THE ANTHROPOMORPHIC ROBOTS." Engevista 17, no. 1 (May 9, 2014): 1. http://dx.doi.org/10.22409/engevista.v17i1.565.

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The paper presents an original geometrical and kinematic method for the study of geometry and determining positions of a MP-3R structure of the anthropomorphic robots. It presents shortly the MP-3R direct and inverse kinematics, the inverse kinematics being solved by an original exactly method. One presents shortly an original method to solve the robot inverse kinematics exemplified at the 3R-Robots (MP-3R). The system which must be solved has three equations and three independent parameters to determine. Constructive basis is represented by a robot with three degrees of freedom (a robot with three axes of rotation). If we study (analyze) an anthropomorphic robot with three axes of rotation (which represents the main movements, absolutely necessary), we already have a base system, on which we can then add other movements (secondary, additional). Calculations were arranged and in the matrix form. The most commonly used serial structures over the last 20 or 30 years are those of type 3R, 4R, 5R, 6R, having as constituents essential basic kinematic chain 3R, robot anthropomorphic (RRR), where main rotation around a vertical axis, causes the construction. It can thus passes from the study spatial movement, which is more difficult, to the study motion plane, basic movement, for all the robots and fillers serial movements of rotation. Moving flat, horizontal or vertical, shall be undertaken far more easily than the spatial integration with the convenience simple in the space of which it is part. We will exemplify the basic structure existing in a few serial platforms of rotation, these being the most generalized (more widespread) at the present time. In this work will be pursued and the direct and inverse kinematics of these mechanical systems. It can make the transition from 3R systems-level 2R and vice versa.

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Kabanov, Aleksey, and Aleksey Balabanov. "The modeling of an anthropomorphic robot arm." MATEC Web of Conferences 224 (2018): 02034. http://dx.doi.org/10.1051/matecconf/201822402034.

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This paper considers the anthropomorphic manipulator kinematics modeling problem. The considered anthropomorphic robot SAR-400 manipulator with five-fingered gripper has twelve degrees of freedom. In the paper the robot SAR-400 arm kinematic model and the simulation results are presented.

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Petrescu, Florian Ion Tiberiu, and Relly Victoria Virgil Petrescu. "DIRECT AND INVERSE KINEMATICS TO THE ANTHROPOMORPHIC ROBOTS." Engevista 18, no. 1 (July 27, 2016): 109. http://dx.doi.org/10.22409/engevista.v18i1.729.

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The paper presents an original geometrical and kinematic method for the study of geometry and determining positions of a MP-3R structure. It presents shortly the MP-3R direct and inverse kinematics, the inverse kinematics being solved by an original exactly method. One presents shortly an original method to solve the robot inverse kinematics exemplified at the 3R-Robots (MP-3R). The system which must be solved has three equations and three independent parameters to determine. Constructive basis is represented by a robot with three degrees of freedom (a robot with three axes of rotation). If one study (analyzes) an anthropomorphic robot with three axes of rotation (which represents the main movements, absolutely necessary), it already has a base system, on which one can then add other movements (secondary, additional). Calculations were arranged and in the matrix form.

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Ren, Bin, Jianwei Liu, Xurong Luo, and Jiayu Chen. "On the kinematic design of anthropomorphic lower limb exoskeletons and their matching movement." International Journal of Advanced Robotic Systems 16, no. 5 (September 1, 2019): 172988141987590. http://dx.doi.org/10.1177/1729881419875908.

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The lower limb exoskeleton is a wearable device for assisting medical rehabilitation. A classical lower limb exoskeleton structures cannot precisely match the kinematics of the wearer’s limbs and joints in movement, so a novel anthropomorphic lower limb exoskeleton based on series–parallel mechanism is proposed in this article. Then, the human lower limb movements are measured by an optical gait capture system. Comparing the simulation results of the series–parallel mechanism with the measured human data, the kinematics matching model at the hip joint is established. The results show that the kinematic matching errors in the X, Y, and Z directions are less than 2 mm. So, the proposed kinematics matching model is effective and the anthropomorphic series–parallel mechanism has a significant improvement in tracing the human positions at the hip joint.

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V. Petrescu, Relly Victoria, Raffaella Aversa, Bilal Akash, Ronald B. Bucinell, Juan M. Corchado, Filippo Berto, MirMilad Mirsayar, Antonio Apicella, and Florian Ion T. Petrescu. "Anthropomorphic Solid Structures n-R Kinematics." American Journal of Engineering and Applied Sciences 10, no. 1 (January 1, 2017): 279–91. http://dx.doi.org/10.3844/ajeassp.2017.279.291.

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Kubik, Ilona, and Paweł Kwiatoń. "Algorytm rozwiązywania kinematyki prostej manipulatorów antropomorficznych." Prace Naukowe Akademii im. Jana Długosza w Częstochowie. Technika, Informatyka, Inżynieria Bezpieczeństwa 5 (2017): 39–51. http://dx.doi.org/10.16926/tiib.2017.05.03.

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7

Petrescu, Florian Ion T., Antonio Apicella, Filippo Berto, Juan M. Corchado, Ronald B. Bucinell, Bilal Akash, Raffaella Aversa, and Relly Victoria V. Petrescu. "Corrigendum: Anthropomorphic Solid Structures n-R Kinematics." American Journal of Engineering and Applied Sciences 12, no. 1 (January 1, 2019): 121. http://dx.doi.org/10.3844/ajeassp.2019.131.

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Li, Yanbiao, Peng Sun, Huan Qi, and Yiqin Luo. "Prototyping of a novel anthropomorphic mechanical leg." Advances in Mechanical Engineering 11, no. 12 (December 2019): 168781401989380. http://dx.doi.org/10.1177/1687814019893802.

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This research aims to explore a better kinematic performance and design scheme for a novel mechanical leg using parameter optimization method. Serial structural mechanisms are widely employed in anthropomorphic mechanism legs but with significant disadvantages of the complex structure and large inertia, particularly, for the multi-objective parameter optimization it is hard to select good parameters to achieve excellent performance. In this article, the plane model of the solution space for multiple parameters and a novel statistics parameter optimization method were proposed for a novel mechanical leg. In the position analysis, the structure and workspace for the novel mechanical leg were developed with simple structure, small inertia, and large workspace; and several kinematic performance evaluation indices were also proposed in the kinematics analysis. In the parameter optimization process, the design scheme and prototyping of the mechanical leg have shown a better kinematic performance by considering the assembly technique as compared with the conventional models. The proposed research provides the basis for the applications of the novel mechanical leg, which can be applied in the modern humanoid robot fields to meet the requirements of high stiffness, lower inertia, and good technological efficiency.

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Silva, Sérgio Ricardo Xavier da, Leizer Schnitman, and Vitalino Cesca Filho. "Analysis of computational efficiency for the solution of inverse kinematics problem of anthropomorphic robots using Gröbner bases theory." International Journal of Advanced Robotic Systems 18, no. 1 (January 1, 2021): 172988142198954. http://dx.doi.org/10.1177/1729881421989542.

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This article presents an analysis of computational efficiency to solve the inverse kinematics problem of anthropomorphic robots. Two approaches are investigated: the first approach uses Paul’s method applied to the matrix obtained by the Denavit–Hartenberg algorithm and the second approach uses Gröbner bases theory. With each approach, the problem of inverse kinematics for an anthropomorphic robot will be solved. When comparing each method, this article will demonstrate that the method using Gröbner bases theory is more computationally efficient.

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BOLOGA, OCTAVIAN, and MIHAI CRENGANIŞ. "Efficient method for position control of a redundant robot." Journal of Engineering Sciences and Innovation 2, no. 2 (2017): 1–8. http://dx.doi.org/10.56958/jesi.2017.2.2.1.

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To begin the work presents some redundancy resolution schemes for robotic arms, i.e., the techniques for exploiting the redundant degrees of freedom in the solution of the inverse kinematics problem. This is obviously an issue of major relevance for motion planning and control purposes. In particular, task-oriented kinematics and the basic methods for its inversion at the velocity (first-order differential) level are first recalled. This paper focuses on modeling and simulations of the inverse kinematics of an anthropomorphic redundant robotic structure with seven degrees of freedom and a workspace similar to human arm. Also the kinematic model of the robotic arm in the MATLAB and Simulink environment is presented. A method of resolving the redundancy of a seven degrees of freedom robotic arm when a degree of freedom has a known variation is presented. The kinematic analysis and virtual simulation share similar results.

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Zainul Azlan, Norsinnira, Mubeenah Titilola Sanni, and Ifrah Shahdad. "Low-cost pick and place anthropomorphic robotic arm for the disabled and humanoid applications." Applied Research and Smart Technology (ARSTech) 1, no. 2 (November 30, 2020): 35–42. http://dx.doi.org/10.23917/arstech.v1i2.25.

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This paper presents the design and development of a new low-cost pick and place anthropomorphic robotic arm for the disabled and humanoid applications. Anthropomorphic robotic arms are weapons similar in scale, appearance, and functionality to humans, and functionality. The developed robotic arm was simple, lightweight, and has four degrees of freedom (DOF) at the hand, shoulder, and elbow joints. The measurement of the link was made close to the length of the human arm. The anthropomorphic robotic arm was actuated by four DC servo motors and controlled using an Arduino UNO microcontroller board. The voice recognition unit drove the command input for the targeted object. The forward and inverse kinematics of the proposed new robotic arm has been analysed and used to program the low cost anthropomorphic robotic arm prototype to reach the desired position in the pick and place operation. This paper’s contribution is in developing the low cost, light, and straightforward weight anthropomorphic arm that can be easily attached to other applications such as a wheelchair and the kinematic study of the specific robot. The low-cost robotic arm’s capability has been tested, and the experimental results show that it can perform basic pick place tasks for the disabled and humanoid applications.

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Tolani, Deepak, Ambarish Goswami, and Norman I. Badler. "Real-Time Inverse Kinematics Techniques for Anthropomorphic Limbs." Graphical Models 62, no. 5 (September 2000): 353–88. http://dx.doi.org/10.1006/gmod.2000.0528.

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13

WEI, GUOWU, JIAN S. DAI, SHUXIN WANG, and HAIFENG LUO. "KINEMATIC ANALYSIS AND PROTOTYPE OF A METAMORPHIC ANTHROPOMORPHIC HAND WITH A RECONFIGURABLE PALM." International Journal of Humanoid Robotics 08, no. 03 (September 2011): 459–79. http://dx.doi.org/10.1142/s0219843611002538.

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A novel metamorphic anthropomorphic hand is for the first time introduced in this paper. This robotic hand has a reconfigurable palm that generates changeable topology and augments dexterity and versatility of the hand. Structure design of the robotic hand is presented and based on mechanism decomposition kinematics of the metamorphic anthropomorphic hand is characterized with closed-form solutions leading to the workspace investigation of the robotic hand. With characteristic matrix equation, twisting motion of the metamorphic robotic hand is investigated to reveal both dexterity and manipulability of the metamorphic hand. Through a prototype, grasping and prehension of the robotic hand are tested to illustrate characteristics of the new metamorphic anthropomorphic hand.

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Petrescu, Relly Victoria V., Raffaella Aversa, Bilal Akash, Ronald B. Bucinell, Juan M. Corchado, Filippo Berto, MirMilad Mirsayar, Antonio Apicella, and Florian Ion T. Petrescu. "Inverse Kinematics at the Anthropomorphic Robots, by a Trigonometric Method." American Journal of Engineering and Applied Sciences 10, no. 2 (February 1, 2017): 394–411. http://dx.doi.org/10.3844/ajeassp.2017.394.411.

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Petrescu, Relly Victoria Virgil. "Presents the Kinematics and Forces at a Basic Anthropomorphic Robot." Journal of Mechatronics and Robotics 4, no. 1 (January 1, 2020): 42–73. http://dx.doi.org/10.3844/jmrsp.2020.42.73.

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Tarokh, Mahmoud, Kancherla Keerthi, and Malrey Lee. "Classification and characterization of inverse kinematics solutions for anthropomorphic manipulators." Robotics and Autonomous Systems 58, no. 1 (January 2010): 115–20. http://dx.doi.org/10.1016/j.robot.2009.07.024.

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17

Virgala, Ivan, Ľubica Miková, Tatiana Kelemenová, Martin Varga, Róbert Rákay, Marek Vagaš, Ján Semjon, et al. "A Non-Anthropomorphic Bipedal Walking Robot with a Vertically Stabilized Base." Applied Sciences 12, no. 9 (April 19, 2022): 4108. http://dx.doi.org/10.3390/app12094108.

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The paper deals with the proposed concept of a biped robot with vertical stabilization of the robot’s base and minimization of its sideways oscillations. This robot uses 6 actuators, which gives good preconditions for energy balance compared to purely articulated bipedal robots. In addition, the used linear actuator is self-locking, so no additional energy is required for braking or to keep it in a stable position. The direct and inverse kinematics problems are solved by means of a kinematic model of the robot. Furthermore, the task is aided by a solution for locomotion on an inclined plane. Special attention is focused on the position of the robot’s center of gravity and its stability in motion. The results of the simulation confirm that the proposed concept meets all expectations. This robot can be used as a mechatronic assistant or as a carrier for handling extensions.

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Li, Pengbo, Can Wang, Bailin He, Jiaqing Liu, and Xinyu Wu. "Kinematics analysis and gait planning for a hemiplegic exoskeleton robot." Cobot 1 (January 12, 2022): 1. http://dx.doi.org/10.12688/cobot.17434.1.

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Background: As the world's aging population increases, the number of hemiplegic patients is increasing year by year. At present, in many countries with low medical level, there are not enough rehabilitation specialists. Due to the different condition of patients, the current rehabilitation training system cannot be applied to all patients. so that patients with hemiplegia cannot get effective rehabilitation training. Methods: Through a motion capture experiment, the mechanical design of the hip joint, knee joint and ankle joint was rationally optimized based on the movement data. Through the kinematic analysis of each joint of the hemiplegic exoskeleton robot, the kinematic relationship of each joint mechanism was obtained, and the kinematics analysis of the exoskeleton robot was performed using the Denavit-Hartenberg (D-H) method. The kinematics simulation of the robot was carried out in automatic dynamic analysis of mechanical systems (ADAMS), and the theoretical calculation results were compared with the simulation results to verify the correctness of the kinematics relationship. According to the exoskeleton kinematics model, a mirror teaching method of gait planning was proposed, allowing the affected leg to imitate the movement of the healthy leg with the help of an exoskeleton robot. Conclusions: A new hemiplegic exoskeleton robot designed by Shenzhen Institute of Advanced Technology (SIAT-H) is proposed, which is lightweight, modular and anthropomorphic. The kinematics of the robot have been analyzed, and a mirror training gait is proposed to enable the patient to form a natural walking posture. Finally, the wearable walking experiment further proves the feasibility of the structure and gait planning of the hemiplegic exoskeleton robot.

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Su, Hang, Nima Enayati, Luca Vantadori, Andrea Spinoglio, Giancarlo Ferrigno, and Elena De Momi. "Online human-like redundancy optimization for tele-operated anthropomorphic manipulators." International Journal of Advanced Robotic Systems 15, no. 6 (November 1, 2018): 172988141881469. http://dx.doi.org/10.1177/1729881418814695.

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Robot human-like behavior can enhance the performance of human–robot cooperation with prominently improved natural interaction. This also holds for redundant robots with an anthropomorphic kinematics. In this article, we translated human ability of managing redundancy to control a seven degrees of freedom anthropomorphic robot arm (LWR4+, KUKA, Germany) during tele-operated tasks. We implemented a nonlinear regression method—based on neural networks—between the human arm elbow swivel angle and the hand target pose to achieve an anthropomorphic arm posture during tele-operation tasks. The method was assessed in simulation and experiments were performed with virtual reality tracking tasks in a lab environment. The results showed that the robot achieves a human-like arm posture during tele-operation, and the subjects prefer to work with the biologically inspired robot. The proposed method can be applied in control of anthropomorphic robot manipulators for tele-operated collaborative tasks, such as in factories or in operating rooms.

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Lee, Chun-Tse, and Jen-Yuan (James) Chang. "A Workspace-Analysis-Based Genetic Algorithm for Solving Inverse Kinematics of a Multi-Fingered Anthropomorphic Hand." Applied Sciences 11, no. 6 (March 17, 2021): 2668. http://dx.doi.org/10.3390/app11062668.

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Although the solution of inverse kinematics for a serial redundant manipulator has been widely researched, many algorithms still seem limited in dealing with complex geometries, including multi-finger anthropomorphic hands. In this paper, the inverse kinematic problems of multiple fingers are an aggregate problem when the target points of fingers are given. The fingers are concatenated to the same wrist and the objective is to find a solution for the wrist and two fingers simultaneously. To achieve this goal, a modified immigration genetic algorithm based on workspace analysis is developed and validated. To reduce unnecessary computation of the immigration genetic algorithm, which arises from an inappropriate inverse kinematic request, a database of the two fingers’ workspace is generated using the Monte Carlo method to examine the feasibility of inverse kinematic request. Furthermore, the estimation algorithm provides an optimal set of wrist angles for the immigration genetic algorithm to complete the remaining computation. The results reveal that the algorithm can be terminated immediately even when the inverse kinematic request is out of the workspace. In addition, a distribution of population in each generation illustrates that the optimized wrist angles provide a better initial condition, which significantly improves the convergence of the immigration genetic algorithm.

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Chen, Weihai, Zhongyi Li, Xiang Cui, Jianbin Zhang, and Shaoping Bai. "Mechanical Design and Kinematic Modeling of a Cable-Driven Arm Exoskeleton Incorporating Inaccurate Human Limb Anthropomorphic Parameters." Sensors 19, no. 20 (October 15, 2019): 4461. http://dx.doi.org/10.3390/s19204461.

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Compared with conventional exoskeletons with rigid links, cable-driven upper-limb exoskeletons are light weight and have simple structures. However, cable-driven exoskeletons rely heavily on the human skeletal system for support. Kinematic modeling and control thus becomes very challenging due to inaccurate anthropomorphic parameters and flexible attachments. In this paper, the mechanical design of a cable-driven arm rehabilitation exoskeleton is proposed to accommodate human limbs of different sizes and shapes. A novel arm cuff able to adapt to the contours of human upper limbs is designed. This has given rise to an exoskeleton which reduces the uncertainties caused by instabilities between the exoskeleton and the human arm. A kinematic model of the exoskeleton is further developed by considering the inaccuracies of human-arm skeleton kinematics and attachment errors of the exoskeleton. A parameter identification method is used to improve the accuracy of the kinematic model. The developed kinematic model is finally tested with a primary experiment with an exoskeleton prototype.

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ZHAO, Jing. "Analytical Inverse Kinematics of Anthropomorphic Movements for 7-DOF Humanoid Manipulators." Journal of Mechanical Engineering 54, no. 21 (2018): 25. http://dx.doi.org/10.3901/jme.2018.21.025.

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Petrescu, Florian Ion Tiberiu. "Kinematics of the Basic Mechatronic Module 3R of an Anthropomorphic Robot." American Journal of Engineering and Applied Sciences 14, no. 1 (January 1, 2021): 112–28. http://dx.doi.org/10.3844/ajeassp.2021.112.128.

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Petrescu, Florian Ion T., Antonio Apicella, Filippo Berto, Juan M. Corchado, Ronald B. Bucinell, Bilal Akash, Raffaella Aversa, and Relly Victoria V. Petrescu. "Corrigendum: Inverse Kinematics at the Anthropomorphic Robots, by a Trigonometric Method." American Journal of Engineering and Applied Sciences 12, no. 1 (January 1, 2019): 123. http://dx.doi.org/10.3844/ajeassp.2019.130.

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FANG, Cheng, and Xilun DING. "Anthropomorphic Arm Kinematics Oriented to Movement Primitive of Human Arm Triangle." Robot 34, no. 3 (2012): 257. http://dx.doi.org/10.3724/sp.j.1218.2012.00257.

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Pfurner, Martin. "Closed form inverse kinematics solution for a redundant anthropomorphic robot arm." Computer Aided Geometric Design 47 (October 2016): 163–71. http://dx.doi.org/10.1016/j.cagd.2016.05.008.

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Gong, Shiqiu, Jing Zhao, Ziqiang Zhang, and Biyun Xie. "Task motion planning for anthropomorphic arms based on human arm movement primitives." Industrial Robot: the international journal of robotics research and application 47, no. 5 (June 19, 2020): 669–81. http://dx.doi.org/10.1108/ir-12-2019-0261.

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Purpose This paper aims to introduce the human arm movement primitive (HAMP) to express and plan the motions of anthropomorphic arms. The task planning method is established for the minimum task cost and a novel human-like motion planning method based on the HAMPs is proposed to help humans better understand and plan the motions of anthropomorphic arms. Design/methodology/approach The HAMPs are extracted based on the structure and motion expression of the human arm. A method to slice the complex tasks into simple subtasks and sort subtasks is proposed. Then, a novel human-like motion planning method is built through the selection, sequencing and quantification of HAMPs. Finally, the HAMPs are mapped to the traditional joint angles of a robot by an analytical inverse kinematics method to control the anthropomorphic arms. Findings For the exploration of the motion laws of the human arm, the human arm motion capture experiments on 12 subjects are performed. The results show that the motion laws of human arm are reflected in the selection, sequencing and quantification of HAMPs. These motion laws can facilitate the human-like motion planning of anthropomorphic arms. Originality/value This study presents the HAMPs and a method for selecting, sequencing and quantifying them in human-like style, which leads to a new motion planning method for the anthropomorphic arms. A similar methodology is suitable for robots with anthropomorphic arms such as service robots, upper extremity exoskeleton robots and humanoid robots.

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Wei, Yuan, and Jing Zhao. "Designing Human-like Behaviors for Anthropomorphic Arm in Humanoid Robot NAO." Robotica 38, no. 7 (September 30, 2019): 1205–26. http://dx.doi.org/10.1017/s026357471900136x.

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SUMMARYHuman-like motion of robots can improve human–robot interaction and increase the efficiency. In this paper, a novel human-like motion planning strategy is proposed to help anthropomorphic arms generate human-like movements accurately. The strategy consists of three parts: movement primitives, Bayesian network (BN), and a novel coupling neural network (CPNN). The movement primitives are used to decouple the human arm movements. The classification of arm movements improves the accuracy of human-like movements. The motion-decision algorithm based on BN is able to predict occurrence probabilities of the motions and choose appropriate mode of motion. Then, a novel CPNN is proposed to solve the inverse kinematics problems of anthropomorphic arms. The CPNN integrates different models into a single network and reflects the features of these models by changing the network structure. Through the strategy, the anthropomorphic arms can generate various human-like movements with satisfactory accuracy. Finally, the availability of the proposed strategy is verified by simulations for the general motion of humanoid NAO.

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Bogdanov, Alexey, Alexander Permyakov, and Yulia Zhdanova. "Research of kinematics of an actuating group of an anthropomorphic gripper with a common drive." MATEC Web of Conferences 224 (2018): 01029. http://dx.doi.org/10.1051/matecconf/201822401029.

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Anthropomorphic robots (AR): Robonaut (USA), Asimo (Japan), FEDOR (Russia) are similar to human capabilities in performable actions. Whereby the AR efficiency depends on the anthropomorphic gripper (AG) functionality. The key problems while its developing are restrictions imposed on permissible amount of using motors. One of advanced approaches to developing of the AG with capabilities similar to a human hand is the use of a common drive wisawe3dsth a special motion transfer system (MTS). Due to including functioning connections into the MTS construction the variability of a schematic structure is provided and the kinematic dependence of output links motion is excluded, thus their sequence motion is provided. The inverse kinematic problem was solved for the developed MTS version. Analytical dependences joining the MTS parameters, rotational angles of actuating group links with a rotational angle of an output link drive are obtained. Performed researches are sufficient for the AG power analysis. Implementability of gripper links rotational angles similar to the phalanges rotation, when using the proposed MTS, is confirmed.

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MERKURYEV, Igor V., Chan T. CHUNG, Gasan R. SAYPULAEV, Musa R. SAYPULAEV, and Delshan DEEB. "DEVELOPMENT OF A KINEMATICS MODEL OF HUMAN FINGERS FOR APPLICATION IN ROBOTIC GLOVES." Mechanics of Machines, Mechanisms and Materials 4, no. 65 (December 2023): 106–13. http://dx.doi.org/10.46864/1995-0470-2023-4-65-106-113.

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This paper considers the design of an anthropomorphic manipulator in the form of a human hand. The aim of the work is to describe the kinematics of a robotic hand, using the example of one finger. Based on the Denavit–Hartenberg algorithm, a kinematic model is developed for one finger of the robotic hand. The working area of the robotic finger is determined, taking into account the limitations on the rotation angles of the finger phalanges. These kinematic equations are used to solve the problem of the speeds of one fingertip. According to the results of modeling for given speeds of the fingertip, the dependencies of the rotation angles of the robotic hand links were obtained. Unlike the previously used models, the developed one makes it possible to take into account the presence of a geometric constraint between the proximal and distal finger phalanges, which is structurally made with an inextensible thread. The results of the work can be used in the design and manufacture of new robotic gloves.

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Ashhepkova, Natalja. "Devising a method to analyze the current state of the manipulator workspace." Eastern-European Journal of Enterprise Technologies 1, no. 7 (109) (February 24, 2021): 63–74. http://dx.doi.org/10.15587/1729-4061.2021.225121.

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This paper has proposed a program analysis method over the current state of the workspace of an anthropomorphic manipulator using the Mathcad software application package (USA). The analysis of the manipulator workspace helped solve the following sub-tasks: to calculate the limits of the grip reach, to determine the presence of "dead zones" within the manipulator workspace, to build the boundaries of the manipulator workspace. A kinematic scheme of the manipulator typically provides for at least five degrees of mobility, which is why in the three-dimensional Cartesian coordinate system the work zone boundaries represent the surfaces of a complex geometric shape. The author-devised method makes it possible to construct the projections of the boundaries of the manipulator's work zone onto the coordinate planes in the frame of reference associated with the base of the robot. Using Mathcad's built-in features makes it possible to effectively solve the above sub-tasks without wasting time developing specialized software. The Mathcad software application package provides for the possibility of a symbolic solution to the first problem of the kinematics of an industrial robot, that is, the program generates analytical dependences of the coordinates for special point P (pole) of the grip on the trigonometrical functions of the generalized coordinates. The resulting analytical dependences are used for kinematic and dynamic analysis of the manipulator. Special features in constructing mathematical models when using the Mathcad software application package have been revealed. Simulating the manipulator movement taking into consideration constraints for kinematic pairs, the drives' power, as well as friction factors, makes it possible to optimize the parameters of the manipulator kinematic scheme. An example of the analysis of the working space of an anthropomorphic manipulator with five degrees of mobility has been considered. The reported results could be used during the design, implementation, modernization, and operation of manipulators.

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Luo, Gui Bin, Can Can Zeng, and Li Da Zhu. "Design Optimization and Control Analysis of Mechanical Arm Equipped on Wheelchair." Advanced Materials Research 983 (June 2014): 363–67. http://dx.doi.org/10.4028/www.scientific.net/amr.983.363.

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Aiming at the phenomenon that our country has a large number of disabled due to illness or accident while the corresponding assistive devices is extremely deficient, we have designed a kind of mechanical arm which is intended to be equipped on wheelchair. We adopt articulated mechanical arm with multi-DOF as its mechanical structure, and choose MCU as the main controller; therefore it can make all kinds of flexible action to achieve a variety of functions. In order to improve the accuracy of manipulator, based on experimental results, we optimize the mechanical arm’s structure, improving its strength and stiffness; in order to realize the motion control of the manipulator, the kinematics analysis is conducted, when solving the mechanical arm’s anthropomorphic action problem, we set key points and then optimize the trajectory with linear interpolation, at last achieve anthropomorphic movement.

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Kim, Je-Seok, Yong-Kwan Ji, and Jahng-Hyon Park. "Inverse Kinematics Analysis of 7-DOF Anthropomorphic Robot Arm using Conformal Geometric Algebra." Journal of the Korean Society of Precision Engineering 29, no. 10 (October 1, 2012): 1119–27. http://dx.doi.org/10.7736/kspe.2012.29.10.1119.

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Stockman, Isabelle, Katarina Bohman, and Lotta Jakobsson. "Kinematics and Shoulder Belt Position of Child Anthropomorphic Test Devices During Steering Maneuvers." Traffic Injury Prevention 14, no. 8 (November 17, 2013): 797–806. http://dx.doi.org/10.1080/15389588.2013.766728.

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Quiñonez, Yadira, Jezreel Mejía, Oscar Zatarain, Carmen Lizarraga, Juan Peraza, and Rogelio Estrada. "Algorithm to Generate Trajectories in a Robotic Arm Using an LCD Touch Screen to Help Physically Disabled People." Electronics 10, no. 2 (January 6, 2021): 104. http://dx.doi.org/10.3390/electronics10020104.

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In the last two-decade, robotics has attracted a lot of attention from the biomedical sectors, to help physically disabled people in their quotidian lives. Therefore, the research of robotics applied in the control of an anthropomorphic robotic arm to people assistance and rehabilitation has increased considerably. In this context, robotic control is one of the most important problems and is considered the main part of trajectory planning and motion control. The main solution for robotic control is inverse-kinematics, because it provides the angles of robotic arm joints. However, there are disadvantages in the algorithms presented by several authors because the trajectory calculation needs an optimization process which implies more calculations to generate an optimized trajectory. Moreover, the solutions presented by the authors implied devices where the people are dependent or require help from other people to control these devices. This article proposes an algorithm to calculate an accuracy trajectory in any time of interest using an LCD touch screen to calculate the inverse-kinematics and get the end-point of the gripper; the trajectory is calculated using a novel distribution function proposed which makes an easy way to get fast results to the trajectory planning. The obtained results show improvements to generate a safe and fast trajectory of an anthropomorphic robotic arm using an LCD touch screen allowed calculating short trajectories with minimal fingers moves.

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Uboh, G. Ch, and M. A. Al Akkad. "Modeling and simulation of two ambidextrous anthropomorphic manipulators to perform cooperative tasks." Intellekt. Sist. Proizv. 20, no. 3 (September 29, 2022): 42–54. http://dx.doi.org/10.22213/2410-9304-2022-3-42-54.

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This paper is focusing on the development of a robotic arm using 3D modeling and simulation. The software used is Blender, which is a 3D modeling and simulation software that also supports programming language python as the scripting language. Blender was chosen over Maya because it is a free software suitable for students to develop their projects, and share the same features, more accessible, and the design is more realistic. The robotic arm was designed after studying the human arm and hand. The kinematics of the robotic arm were derived. The simulation shows the movement of rigged objects, e.g., an arm controlling a gun, and bullets projecting from the gun, and it was done using key frame animation and game engine simulation. Modeling and simulation of two robotic arms and hands, shooting with an AK-47 rifle at a bullseye, were done and completed using python in Blender. This work is intended to be integrated into a First-Person Shooter FPS game, which can be used to train biathlon sportsmen and army soldiers for precise shooting. Forward and inverse kinematics are implemented for the rig to move without breaking and deforming, then the bones and mesh together are combined as one unit, then the joined mesh is put to a desired position of a shooting position, then a rifle is added, then the bullets are simulated falling on ground when the bullets hits the target. Then finally the whole file is exported.

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Yoganandan, N., A. Sances, and F. Pintar. "Biomechanical Evaluation of the Axial Compressive Responses of the Human Cadaveric and Manikin Necks." Journal of Biomechanical Engineering 111, no. 3 (August 1, 1989): 250–55. http://dx.doi.org/10.1115/1.3168374.

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Cervical spine injuries such as wedge, burst, and tear drop fractures are often associated with compressive axial loads delivered to the human head-neck complex. Understanding the injury mechanisms, the kinematics of the anatomic structure, and the tissue tolerances can improve clinical prognosis and facilitate a better design for anthropomorphic devices. The axial compressive response of human cadaveric preparations was compared with the 50th percentile anthropomorphic Hybrid III manikin under various loading rates. Ten fresh human cadavers were used in the study. Intact cadaver torsos, head-cervical spines, and ligamentous cervical columns were tested. The head-neck structure and the neck (without head) of the Hybrid III manikin were also tested. Responses of the human cadaveric preparations and manikin structures were nonlinear at all rates of loading. However, axial stiffness, a measure of the ability of the structure to withstand external force, was higher under all rates of loading for manikin preparations when compared with the human cadaveric tissues.

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JEAN-CHRISTOPHE, PALYART LAMARCHE, BRUNEAU OLIVIER, and FONTAINE JEAN-GUY. "FROM HUMAN MOTION CAPTURES TO HUMANOID SPATIAL COORDINATION." International Journal of Humanoid Robotics 09, no. 03 (September 2012): 1250019. http://dx.doi.org/10.1142/s0219843612500193.

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This paper describes a methodology translating human spatial coordination in a humanoid robots context. Once the human locomotion is captured, we highlight coordination relations describing motions. Relations and inverse kinematics are applied to a virtual humanoid, which is a tradeoff between human (anthropomorphic proportions) and robot (joints configuration). Further, we quantify all required adaptations for a real humanoid, such as scaling and equilibrium. Finally, this methodology is applied to a specific humanoid robot (called NAO) in order to illustrate and compare some preliminary results.

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Wang, Qi, Huasong Min, and Yixuan Guo. "An algorithm for trajectory optimization of dual-arm coordination based on arm angle constraints." Cobot 1 (April 19, 2022): 10. http://dx.doi.org/10.12688/cobot.17470.1.

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In this paper, the motion planning of a dual-arm robot with kinematic constraints is studied based on arm-angle constraints. When a dual-arm robot moves a common object, a closed kinematic chain is formed between the dual-arm and the object. The standard sampling-based trajectory planning algorithm solves the problem with closed-chain constraint, but this causes other problems; the running time increases, the success rate decreases, and the motion trajectory of the end effector is not smooth resulting in large output error. Therefore, this paper proposes a dual-arm coordinated trajectory optimization algorithm based on arm-angle constraints. Firstly, the kinematics of the dual-arm robot is modeled and analyzed, and the definition of the arm-angle in a seven-axis robot is proposed, the workspace of the dual-arm coordinated operation is considered to constrain it, the kinematics equation combined with the single/multi-objective optimization algorithm is used to optimize the end output error, and the joint trajectory is parameterized. This paper solves the problems that the slave arm lags behind the main arm, the motion trajectory of the dual-arm is not smooth, and the dual-arm are squeezed due to internal force during the coordinated movement of the dual-arm. The trajectory optimization improves the synchronization of the coordinated operation of the dual-arm, reduces the output error of the velocity and acceleration at the end of the dual-arm. After limiting the arm-angle, dual-arm manipulation is anthropomorphic the robot does not produce distorted arm configurations.

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GRAVEZ, FABRICE, OLIVIER BRUNEAU, and FETHI BEN OUEZDOU. "ANALYTICAL AND AUTOMATIC MODELING OF DIGITAL HUMANOIDS." International Journal of Humanoid Robotics 02, no. 03 (September 2005): 337–59. http://dx.doi.org/10.1142/s021984360500051x.

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The aim of this article is to achieve a parametric modeling of kinematics, geometrical and inertial properties of the various joints and links which constitute an anthropomorphic biped. The result is the automatic creation of virtual models of humanoid bipeds while respecting intrinsically the inertial and geometrical distribution of each link, according only to two parameters: the total mass and the total height of the system. Future developments are to use the analytical parameters of masses and inertia in analytical dynamic models in order to control humanoids having different masses and heights.

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Prasanna, J., Lakshmi Narashiman Aswin, M. Venkat Raman, Sai Prashanth, and Chordia D. Raj. "Design and Control of a Dexterous Anthropomorphic Five Fingered Robotic Arm." Applied Mechanics and Materials 541-542 (March 2014): 1097–101. http://dx.doi.org/10.4028/www.scientific.net/amm.541-542.1097.

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The primary objective of this research involves designing and fabrication of a wireless controlled five-fingered anthropomorphic dexterous robotic arm. Multiple joints are provided in the arms and fingers to mimic a realistic human-like motion. The mechanism is designed with the prime aim of increasing its efficiency in terms of performance, energy consumption and economy while reducing the total system weight. The design is followed up by the fabrication of mechanical sections of the arm and the assembly of the complete system. Finally, interfacing of the robotic arm with an external glove that can be worn by the user to control the arm motion is done through utilization of a wireless medium. The kinematics of the system, the overall mechanism for actuation and spring design for restoring the elements to their original positions are discussed in the paper.

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Liang, Peidong, Lianzheng Ge, Yihuan Liu, Lijun Zhao, Ruifeng Li, and Ke Wang. "An Augmented Discrete-Time Approach for Human-Robot Collaboration." Discrete Dynamics in Nature and Society 2016 (2016): 1–13. http://dx.doi.org/10.1155/2016/9126056.

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Human-robot collaboration (HRC) is a key feature to distinguish the new generation of robots from conventional robots. Relevant HRC topics have been extensively investigated recently in academic institutes and companies to improve human and robot interactive performance. Generally, human motor control regulates human motion adaptively to the external environment with safety, compliance, stability, and efficiency. Inspired by this, we propose an augmented approach to make a robot understand human motion behaviors based on human kinematics and human postural impedance adaptation. Human kinematics is identified by geometry kinematics approach to map human arm configuration as well as stiffness index controlled by hand gesture to anthropomorphic arm. While human arm postural stiffness is estimated and calibrated within robot empirical stability region, human motion is captured by employing a geometry vector approach based on Kinect. A biomimetic controller in discrete-time is employed to make Baxter robot arm imitate human arm behaviors based on Baxter robot dynamics. An object moving task is implemented to validate the performance of proposed methods based on Baxter robot simulator. Results show that the proposed approach to HRC is intuitive, stable, efficient, and compliant, which may have various applications in human-robot collaboration scenarios.

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Wang, Lan, Zheng Qian Yin, and Yuan Hang Sun. "The Analysis and Control of Exoskeleton Upper-Limb Rehabilitation Robot." Key Engineering Materials 572 (September 2013): 619–23. http://dx.doi.org/10.4028/www.scientific.net/kem.572.619.

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Based on the analysis of the methods for upper limb rehabilitation training, an anthropomorphic upper-limb exoskeleton was developed. Anatomical and physiological characteristics and upper limb joint ranges of motion are also considered. The rehabilitation robot is achieved by 4 single-axis revolute joints which are shoulder abduction-adduction (abd-add), shoulder flexion-extension (flx-ext), elbow flx-ext and wrist flx-ext. Kinematics and dynamics analysis of the rehabilitation robot are made. The passive rehabilitation mode and active rehabilitation mode are researched, and the result of experenment is shown that the robot can finish the rehabilitation task well.

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Kim, Young-Loul, and Jae-Bok Song. "Analytical Inverse Kinematics Algorithm for a 7 DOF Anthropomorphic Robot Arm Using Intuitive Elbow Direction." Journal of Korea Robotics Society 6, no. 1 (February 28, 2011): 27–33. http://dx.doi.org/10.7746/jkros.2011.6.1.027.

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Krechetov, Ivan Vladimirovich, Arkady Alekseevich Skvortsov, Pavel Sergeevich Lavrikov, and Danil Vladilenovich Yatskin. "Development of an Anthropomorphic Gripping Manipulator: The Study of Kinematics and Virtual Modeling of Grip." American Journal of Applied Sciences 13, no. 1 (January 1, 2016): 14–27. http://dx.doi.org/10.3844/ajassp.2016.14.27.

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Krechetov, Ivan V. "Approach to the Study of Kinematics and Modeling Grip of 22 DOF Anthropomorphic Gripping Manipulator." Indian Journal of Science and Technology 9, no. 1 (January 20, 2016): 1–9. http://dx.doi.org/10.17485/ijst/2015/v8is10/85407.

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Liu, Weihui, Diansheng Chen, and Jochen Steil. "Analytical Inverse Kinematics Solver for Anthropomorphic 7-DOF Redundant Manipulators with Human-Like Configuration Constraints." Journal of Intelligent & Robotic Systems 86, no. 1 (December 27, 2016): 63–79. http://dx.doi.org/10.1007/s10846-016-0449-6.

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Kramar, Vadim, Oleg Kramar, and Aleksey Kabanov. "An Artificial Neural Network Approach for Solving Inverse Kinematics Problem for an Anthropomorphic Manipulator of Robot SAR-401." Machines 10, no. 4 (March 29, 2022): 241. http://dx.doi.org/10.3390/machines10040241.

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The paper proposes a new design of an artificial neural network for solving the inverse kinematics problem of the anthropomorphic manipulator of robot SAR-401. To build a neural network (NN), two sets were used as input data: generalized coordinates of the manipulator and elements of a homogeneous transformation matrix obtained by solving a direct kinematics problem based on the Denavi–Hartenberg notation. According to the simulation results, the NN based on the homogeneous transformation matrix showed the best accuracy. However, the accuracy was still insufficient. To increase the accuracy, a new NN design was proposed. It consists of adding a so-called “correctional” NN, the input of which is fed the same elements of the homogeneous transformation matrix and additionally the output of the first NN. The proposed design based on the correctional NN allowed the accuracy to increase two times. The application of the developed NN approach was carried out on a computer model of the manipulator in MATLAB, on the SAR-401 robot simulator, as well as on the robot itself.

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Rouchitsas, Alexandros, and Håkan Alm. "Smiles and Angry Faces vs. Nods and Head Shakes: Facial Expressions at the Service of Autonomous Vehicles." Multimodal Technologies and Interaction 7, no. 2 (January 20, 2023): 10. http://dx.doi.org/10.3390/mti7020010.

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When deciding whether to cross the street or not, pedestrians take into consideration information provided by both vehicle kinematics and the driver of an approaching vehicle. It will not be long, however, before drivers of autonomous vehicles (AVs) will be unable to communicate their intention to pedestrians, as they will be engaged in activities unrelated to driving. External human–machine interfaces (eHMIs) have been developed to fill the communication gap that will result by offering information to pedestrians about the situational awareness and intention of an AV. Several anthropomorphic eHMI concepts have employed facial expressions to communicate vehicle intention. The aim of the present study was to evaluate the efficiency of emotional (smile; angry expression) and conversational (nod; head shake) facial expressions in communicating vehicle intention (yielding; non-yielding). Participants completed a crossing intention task where they were tasked with deciding appropriately whether to cross the street or not. Emotional expressions communicated vehicle intention more efficiently than conversational expressions, as evidenced by the lower latency in the emotional expression condition compared to the conversational expression condition. The implications of our findings for the development of anthropomorphic eHMIs that employ facial expressions to communicate vehicle intention are discussed.

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Vasilyev, Alexander, Vladimir Mikhaylets, Anvar Sarvarov, and Kristina Danilenko. "Investigation of Kinematics of the Final Control Elements of the Anthropomorphic Gripper With a Common Drive." Electrotechnical Systems and Complexes, no. 3(36) (September 26, 2017): 41–46. http://dx.doi.org/10.18503/2311-8318-2017-3(36)-41-46.

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Journal articles on the topic 'Anthropomorphic kinematics'

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