Journal articles on the topic 'Passive robotic devices'
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Nandor, Mark J., Maryellen Heebner, Roger Quinn, Ronald J. Triolo, and Nathaniel S. Makowski. "Transmission Comparison for Cooperative Robotic Applications." Actuators 10, no. 9 (August 25, 2021): 203. http://dx.doi.org/10.3390/act10090203.
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The development of powered assistive devices that integrate exoskeletal motors and muscle activation for gait restoration benefits from actuators with low backdrive torque. Such an approach enables motors to assist as needed while maximizing the joint torque muscles, contributing to movement, and facilitating ballistic motions instead of overcoming passive dynamics. Two electromechanical actuators were developed to determine the effect of two candidate transmission implementations for an exoskeletal joint. To differentiate the transmission effects, the devices utilized the same motor and similar gearing. One actuator included a commercially available harmonic drive transmission while the other incorporated a custom designed two-stage planetary transmission. Passive resistance and mechanical efficiency were determined based on isometric torque and passive resistance. The planetary-based actuator outperformed the harmonic-based actuator in all tests and would be more suitable for hybrid exoskeletons.
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Israel, Jeffrey F., Donielle D. Campbell, Jennifer H. Kahn, and T. George Hornby. "Metabolic Costs and Muscle Activity Patterns During Robotic- and Therapist-Assisted Treadmill Walking in Individuals With Incomplete Spinal Cord Injury." Physical Therapy 86, no. 11 (November 1, 2006): 1466–78. http://dx.doi.org/10.2522/ptj.20050266.
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AbstractBackground and Purpose. Robotic devices that provide passive guidance and stabilization of the legs and trunk during treadmill stepping may increase the delivery of locomotor training to subjects with neurological injury. Lower-extremity guidance also may reduce voluntary muscle activity as compared with compliant assistance provided by therapists. The purpose of this study was to investigate differences in metabolic costs and lower-limb muscle activity patterns during robotic- and therapist-assisted treadmill walking. Subjects. Twelve ambulatory subjects with motor incomplete spinal cord injury participated. Methods. In 2 separate protocols, metabolic and electromyographic (EMG) data were collected during standing and stepping on a treadmill with therapist and robotic assistance. During robotic-assisted walking, subjects were asked to match the kinematic trajectories of the device and maximize their effort. During therapist-assisted walking, subjects walked on the treadmill with manual assistance provided as necessary. Results. Metabolic costs and swing-phase hip flexor EMG activity were significantly lower when subjects were asked to match the robotic device trajectories than with therapist-assisted walking. These differences were reduced when subjects were asked to maximize their effort during robotic-assisted stepping, although swing-phase plantar-flexor EMG activity was increased. In addition, during standing prior to therapist- or robotic-assisted stepping, metabolic costs were higher without stabilization from the robotic device. Discussion and Conclusion. Differences in metabolic costs and muscle activity patterns between therapist- and robotic-assisted standing and stepping illustrate the importance of minimizing passive guidance and stabilization provided during step training protocols.
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Malvezzi, Monica, Zubair Iqbal, Maria Cristina Valigi, Maria Pozzi, Domenico Prattichizzo, and Gionata Salvietti. "Design of Multiple Wearable Robotic Extra Fingers for Human Hand Augmentation." Robotics 8, no. 4 (December 11, 2019): 102. http://dx.doi.org/10.3390/robotics8040102.
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Augmenting the human hand with robotic extra fingers is a cutting-edge research topic and has many potential applications, in particular as a compensatory and rehabilitation tool for patients with upper limb impairments. Devices composed of two extra fingers are preferred with respect to single finger devices when reliable grasps, resistance to external disturbances, and higher payloads are required. Underactuation and compliance are design choices that can reduce the device complexity and weight, maintaining the adaptability to different grasped objects. When only one motor is adopted to actuate multiple fingers, a differential mechanism is necessary to decouple finger movements and distribute forces. In this paper, the main features of a wearable device composed of two robotic extra fingers are described and analyzed in terms of kinematics, statics, and mechanical resistance. Each finger is composed of modular phalanges and is actuated with a single tendon. Interphalangeal joints include a passive elastic element that allows restoring the initial reference configuration when the tendon is released. The stiffness of each passive element can be customized in the manufacturing process and can be chosen according to a desired closure movement of the fingers. Another key aspect of the device is the differential system connecting the actuator to the fingers.
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Oron-Gilad, Tal, Elizabeth S. Redden, and Yaniv Minkov. "Robotic Displays for Dismounted Warfighters." Journal of Cognitive Engineering and Decision Making 5, no. 1 (March 2011): 29–54. http://dx.doi.org/10.1177/1555343411399076.
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This study investigated the scalability of unmanned vehicle displays for dismounted warfighters. Task performance, workload, and preferences for three display devices were examined in two operational settings: teleoperation of an unmanned ground vehicle (UGV) and intelligence gathering from a remote unmanned vehicle. Previous research has demonstrated variability in operational needs with regard to active teleoperation versus passive intelligence gathering. Thus, it was important to identify whether there was actually a dichotomy between the two in terms of screen space requirements and whether this difference stems from task differences or other factors. Thirty-one soldiers participated in a field study at Fort Benning, Georgia. They were required to perform teleoperation and intelligence-gathering tasks. Results reconfirmed the hypothesis that display type influences performance in intelligence-related tasks that require the use of video feed and digital map. No significant differences among display types were found in the UGV teleoperation task. Dismounted warfighters can adequately perform both active and passive duties with a handheld device on which the video window is as small as 4.3 inches in diameter. However, monocular helmet-mounted displays for robotic displays can be problematic and should be carefully assessed before use in dismounted warfighters’ missions.
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Righi, Marco, Massimo Magrini, Cristina Dolciotti, and Davide Moroni. "A Case Study of Upper Limb Robotic-Assisted Therapy Using the Track-Hold Device." Sensors 22, no. 3 (January 28, 2022): 1009. http://dx.doi.org/10.3390/s22031009.
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The Track-Hold System (THS) project, developed in a healthcare facility and therefore in a controlled and protected healthcare environment, contributes to the more general and broad context of Robotic-Assisted Therapy (RAT). RAT represents an advanced and innovative rehabilitation method, both motor and cognitive, and uses active, passive, and facilitating robotic devices. RAT devices can be equipped with sensors to detect and track voluntary and involuntary movements. They can work in synergy with multimedia protocols developed ad hoc to achieve the highest possible level of functional re-education. The THS is based on a passive robotic arm capable of recording and facilitating the movements of the upper limbs. An operational interface completes the device for its use in the clinical setting. In the form of a case study, the researchers conducted the experimentation in the former Tabarracci hospital (Viareggio, Italy). The case study develops a motor and cognitive rehabilitation protocol. The chosen subjects suffered from post-stroke outcomes affecting the right upper limb, including strength deficits, tremors, incoordination, and motor apraxia. During the first stage of the enrolment, the researchers worked with seven patients. The researchers completed the pilot with four patients because three of them got a stroke recurrence. The collaboration with four patients permitted the generation of an enlarged case report to collect preliminary data. The preliminary clinical results of the Track-Hold System Project demonstrated good compliance by patients with robotic-assisted rehabilitation; in particular, patients underwent a gradual path of functional recovery of the upper limb using the implemented interface.
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Brown, W. Robert, and A. Galip Ulsoy. "Robust design of Passive Assist Devices for multi-DOF robotic manipulator arms." Robotica 35, no. 11 (February 10, 2017): 2238–55. http://dx.doi.org/10.1017/s0263574716000850.
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SUMMARYA comparison of series, parallel, and dual Passive Assist Devices(PADs) designed using energy minimization based on a known maneuver is presented. Implementation of a PAD can result in an improvement in system performance with respect to efficiency, reliability, and/or utility. We introduce a new initial design using a weighted force displacement curve fit. A robust design approach for a family of maneuvers is developed and presented. Applications to a 3-link manipulator arm show that PADs could reduce energy consumption between 60% and 80%.
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Imamura, Yumeko, Ko Ayusawa, Eiichi Yoshida, and Takayuki Tanaka. "Evaluation Framework for Passive Assistive Device Based on Humanoid Experiments." International Journal of Humanoid Robotics 15, no. 03 (June 2018): 1750026. http://dx.doi.org/10.1142/s0219843617500268.
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This study presents an enhanced framework for evaluating an assistive effect generated by a passive assistive device using a humanoid robot. The humanoid robotic experiments can evaluate wearable devices by measuring the joint torque, which cannot be measured directly from the human body. In this paper, we introduce an “assistive torque estimation map” as an efficient means for estimating the supportive torque within the range of motions by interpolating the measured joint torques and joint angles of the robot. This map aims to estimate the supportive torques for complex motions without conducting humanoid experiments or human-subject experiments with these motions. We generated an estimation map for an actual assistive suit that decreases the load on the lumbar region and we verified the validity of the proposed method by experimentation. In addition, the geometric simulation model of the assistive suit was validated based on the proposed experiments by using the humanoid robot HRP-4. The proposed framework is expected to lead to an efficient design of such assistive devices so that fewer human-subject experiments need to be conducted.
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Bakšys, Bronius, and Nomeda Puodziuniene. "Robotic Assembly Using Vibrations." Solid State Phenomena 113 (June 2006): 301–6. http://dx.doi.org/10.4028/www.scientific.net/ssp.113.301.
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On the basis of the dynamic model of vibratory alignment the main features of the vibrational assembly process are investigated. The regularities of non−impact alignment, when an immovable part is excited in two perpendicular directions, are defined. It is revealed that during the vibrational alignment the movable part can move from static till dynamic equilibrium position. The distance between these two positions defines allowable error of mutual positioning of the parts subject to the assembly, when the unhindered parts insertion is still possible. On the basis of the dynamic model of vibratory displacement the regularities of a body displacement under controlled dry friction force at a particular time interval is examined. If elastic vibrations are excited, dry friction coefficient decreases and smaller friction force acts against the body displacement. Stoppage of these vibrations causes a steep increase of friction coefficient. When the body moves from static to dynamic equilibrium position on the inclined plane the vibratory displacement is governed by the transient regimes of motion. Assembly robots equipped with passive compliance vibratory end-effectors allow one to compensate considerably bigger deviations in part’s interposition without using sensors and feedback systems. Therefore usage of vibratory devices with passive compliance allows one to significantly reduce the expenses of robotic assembly.
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Ahmed, Tanvir, Md Assad-Uz-Zaman, Md Islam, Drew Gottheardt, Erin McGonigle, Brahim Brahmi, and Mohammad Rahman. "Flexohand: A Hybrid Exoskeleton-Based Novel Hand Rehabilitation Device." Micromachines 12, no. 11 (October 20, 2021): 1274. http://dx.doi.org/10.3390/mi12111274.
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Home-based hand rehabilitation has excellent potential as it may reduce patient dropouts due to travel, transportation, and insurance constraints. Being able to perform exercises precisely, accurately, and in a repetitive manner, robot-aided portable devices have gained much traction these days in hand rehabilitation. However, existing devices fall short in allowing some key natural movements, which are crucial to achieving full potential motion in performing activities of daily living. Firstly, existing exoskeleton type devices often restrict or suffer from uncontrolled wrist and forearm movement during finger exercises due to their setup of actuation and transmission mechanism. Secondly, they restrict passive metacarpophalangeal (MCP) abduction–adduction during MCP flexion–extension motion. Lastly, though a few of them can provide isolated finger ROM, none of them can offer isolated joint motion as per therapeutic need. All these natural movements are crucial for effective robot-aided finger rehabilitation. To bridge these gaps, in this research, a novel lightweight robotic device, namely “Flexohand”, has been developed for hand rehabilitation. A novel compliant mechanism has been developed and included in Flexohand to compensate for the passive movement of MCP abduction–adduction. The isolated and composite digit joint flexion–extension has been achieved by integrating a combination of sliding locks for IP joints and a wire locking system for finger MCP joints. Besides, the intuitive design of Flexohand inherently allows wrist joint movement during hand digit exercises. Experiments of passive exercises involving isolated joint motion, composite joint motions of individual fingers, and isolated joint motion of multiple fingers have been conducted to validate the functionality of the developed device. The experimental results show that Flexohand addresses the limitations of existing robot-aided hand rehabilitation devices.
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Barrera Sánchez, Agustín, Andrés Blanco Ortega, Eladio Martínez Rayón, Fabio Abel Gómez Becerra, Arturo Abúndez Pliego, Rafael Campos Amezcua, and César Humberto Guzmán Valdivia. "State of the Art Review of Active and Passive Knee Orthoses." Machines 10, no. 10 (September 27, 2022): 865. http://dx.doi.org/10.3390/machines10100865.
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The use of specialized devices, such as orthopedic devices, has become indispensable in the lives of people with disabilities since ancient times. The primary purpose of such devices is to perform activities and solve problems that afflict their bearers in any extremity of their body. One of the most recurrent problems occurs in the lower extremities regarding mobility and autonomy. In addition, the use of orthopedic devices is considered a tool to lighten the repetitive and heavy rehabilitation work of physiotherapists while improving the patient’s recovery efficiency. A significant challenge is that a great variety of these devices are similar in their design and manufacture, complicating their application in rehabilitation processes. For these reasons, this article aims to provide an overview of the features and considerations made in the architecture of orthosis designs, emphasizing lower extremity orthoses for the case of knee joint analysis. A literature review of active and passive knee orthoses manufactured from the 1970s to the present was carried out, considering aspects such as manufacturing materials, mechanical systems, types of actuators, and control strategies. This review shows that the designs and development of orthoses have been abundant in these devices for lower limbs. Based on the literature collected, we have studied the main robotic devices focusing on the characteristics of design, manufacturing, and control systems to assist in human locomotion and support in rehabilitation processes.
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Faiz Ahmed, Syed, M. Kamran Joyo, Athar Ali, Abdul Malik M. Ali, Kushsairy A. Kadir, Yarooq R. Naqvi, Badri A. Bakar, and Asadullah Shah. "Robotic Exoskeleton Control for Lower Limb Rehabilitation of Knee Joint." International Journal of Engineering & Technology 7, no. 2.34 (June 8, 2018): 56. http://dx.doi.org/10.14419/ijet.v7i2.34.13912.
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Wearable devices such as exoskeletons are being opted frequently during rehabilitation processes for the post stroke recovery. Such devices are playing important role in the development of assistive rehabilitation robotic systems. In this paper three control strategies MPC and LQR and PID are introduced which were applied to knee joint of lower limb exoskeleton model for passive exercise. The two controls MPC and LQR are model based control which empowers them for stable responses. In this paper the analysis of robustness of control is done under the noisy and disturbance conditions. The results showed good performance of the exoskeleton model with the applied controls in the provided condition. In the future work the applied controls will be implemented on hardware.
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Sun, Yuanxi, Hao Tang, Yuntao Tang, Jia Zheng, Dianbiao Dong, Xiaohong Chen, Fuqiang Liu, et al. "Review of Recent Progress in Robotic Knee Prosthesis Related Techniques: Structure, Actuation and Control." Journal of Bionic Engineering 18, no. 4 (July 2021): 764–85. http://dx.doi.org/10.1007/s42235-021-0065-4.
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AbstractAs the essential technology of human-robotics interactive wearable devices, the robotic knee prosthesis can provide above-knee amputations with functional knee compensations to realize their physical and psychological social regression. With the development of mechanical and mechatronic science and technology, the fully active knee prosthesis that can provide subjects with actuating torques has demonstrated a better wearing performance in slope walking and stair ascent when compared with the passive and the semi-active ones. Additionally, with intelligent human-robotics control strategies and algorithms, the wearing effect of the knee prosthesis has been greatly enhanced in terms of stance stability and swing mobility. Therefore, to help readers to obtain an overview of recent progress in robotic knee prosthesis, this paper systematically categorized knee prostheses according to their integrated functions and introduced related research in the past ten years (2010–2020) regarding (1) mechanical design, including uniaxial, four-bar, and multi-bar knee structures, (2) actuating technology, including rigid and elastic actuation, and (3) control method, including mode identification, motion prediction, and automatic control. Quantitative and qualitative analysis and comparison of robotic knee prosthesis-related techniques are conducted. The development trends are concluded as follows: (1) bionic and lightweight structures with better mechanical performance, (2) bionic elastic actuation with energy-saving effect, (3) artificial intelligence-based bionic prosthetic control. Besides, challenges and innovative insights of customized lightweight bionic knee joint structure, highly efficient compact bionic actuation, and personalized daily multi-mode gait adaptation are also discussed in-depth to facilitate the future development of the robotic knee prosthesis.
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Dasgupta, A. "Position and force control of robotic devices interacting with passive environments through compliance modulation." International Journal of Systems Science 30, no. 7 (January 1999): 697–705. http://dx.doi.org/10.1080/002077299292010.
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Baksys, Bronius, Jolanta Baskutiene, and Saulius Baskutis. "The vibratory alignment of the parts in robotic assembly." Industrial Robot: An International Journal 44, no. 6 (October 16, 2017): 720–29. http://dx.doi.org/10.1108/ir-11-2016-0289.
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Purpose This paper aims to consider the experimental and theoretical investigation of the vibratory alignment of the peg-hole, when the peg is fixed in the remote centre compliance (RCC) device, and the vibrations are provided either to the hole or to the peg. Design/methodology/approach The experimental analysis of the circular and rectangular peg-hole vibratory alignment using the attached to the robot arm RCC device, under vibratory excitation of the hole, has been performed. The parameters of the vibratory excitation and the part-to-part pressing force influence on the alignment process have been analysed. The mathematical approach of the vibratory alignment using the passive compliance device with the vibrations provided to the peg has been proposed, and the simulation has been carried out. Findings The research has approved the applicability of the RCC device for both of the vibratory alignments of the non-chamfered peg-hole parts either circular or rectangular ones. The compensation of the axial misalignments has been resulted by the directional displacement of the peg supported compliantly. To perform the successful alignment of the parts, it has been necessary to adjust the frequency and the amplitude of the vibrations, the pressing force, the lateral, as well as the angular stiffness of the device. Research limitations/implications The experiments on the vibratory alignment of the rectangular peg-hole parts have been carried out considering only the translational misalignment moved into one direction. The non-impact regime of the vibratory alignment has been analysed. Practical implications The obtained results can be applied in designing the reliable and efficient devices of the vibratory assembly for the alignment of the non-chamfered peg-hole parts, as well as for chamfered ones, if the axial misalignment exceeds the width of the chamfer. The vibratory technique and passive compliance provide possibility to accomplish the assembly operations using the non-expensive low accuracy robots. Originality/value The new method and the mathematical approach of the vibratory assembly using the RCC device can ensure the reliable alignment of the non-chamfered parts, chamfered circular and the rectangular ones, in case the axial misalignment exceeds the assembly clearance, and prevent jamming and wedging.
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Mandeljc, Ana, Aleksander Rajhard, Marko Munih, and Roman Kamnik. "Robotic Device for Out-of-Clinic Post-Stroke Hand Rehabilitation." Applied Sciences 12, no. 3 (January 21, 2022): 1092. http://dx.doi.org/10.3390/app12031092.
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Due to the ageing population and an increasing number of stroke patients, we see the potential future of rehabilitation in telerehabilitation, which might alleviate the workload of physiotherapists and occupational therapists. In order to enable the use of telerehabilitation, devices aimed for home and independent use need to be developed. This paper describes the design of a robotic device for post-stroke wrist and finger rehabilitation and evaluates the movement it can perform. Six healthy subjects were tested in three experimental conditions: performing a coupled movement of wrist and fingers from flexion to extension without the device, with a passive device, and with an active device. The kinematics of the hand were captured using three Optotrak Certus motion capture systems and tracking 11 infrared active light-emitting diode (LED) markers. The results are presented in the form of base-line trajectories for all middle finger (MF) joints. In addition, the deviations of trajectories between conditions across all subjects were computed for the metacarpophalangeal (MCP) joint and fingertip of the MF and pinkie (PF) finger. Deviations from the base-line trajectory between measurement protocols and the root-mean-square deviation (RMSD) values indicate that the motion of the hand, imposed by the developed device, is comparable to the unconstrained motion of the healthy subjects, especially when moving into the extension, opening the hand.
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Worsnopp, Tom, Michael Peshkin, Kevin Lynch, and J. Edward Colgate. "Controlling the Apparent Inertia of Passive Human-Interactive Robots." Journal of Dynamic Systems, Measurement, and Control 128, no. 1 (November 14, 2005): 44–52. http://dx.doi.org/10.1115/1.2168165.
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Passive robotic devices may exhibit a spatially varying apparent inertia perceptible to a human user. The apparent inertia is the projection of the inertia matrix onto the instantaneous direction of motion. The spatial variation is due to the configuration dependence of the inertia matrix and relevant to many passive mechanisms, including programmable constraint machines or “cobots,” which use low-power steering actuators to choose the direction of motion. We develop two techniques for controlling the apparent inertia in cobots to emulate the desired inertial properties of a virtual object or mechanism. The first is a path-limiting method, which constraints the cobot to steer along certain paths where the apparent inertia and desired inertia are equivalent. The second uses a low-power actuator to control the apparent inertia by driving the device along its direction of motion. We illustrate these ideas for a two-link cobot we have built for experiments in human motor control and rehabilitation. For the actuated control method, we show that the power actuator can be relatively low power compared to the actuators of a traditional robot performing similar tasks.
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Yoshikawa, Tsuneo. "Passive and Active Closures by Constraining Mechanisms." Journal of Dynamic Systems, Measurement, and Control 121, no. 3 (September 1, 1999): 418–24. http://dx.doi.org/10.1115/1.2802490.
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This paper provides a unified theoretical framework for analytical characterization of grasping and manipulation capability of robotic grippers and hands as well as fixing capability of fixtures and vises. The concept of passive closure and active closure for general constraining mechanisms consisting of fixed and/or articulated constraining limbs is introduced. These concepts are useful for explicitly distinguishing the two kinds of capabilities of the constraining mechanism: Passive closure represents the ability of fixing devices and active closure represents the ability of manipulating devices. Passive closure is further classified into passive form closure and passive force closure. Passive form closure is essentially the same as Reuleaux’s classical form closure and passive force closure is a substantial generalization of classical force closure to the case where articulated constraining limbs exist. Conditions for these closures to hold are studied. After a brief review of conditions for passive form closure, several conditions for passive force closure are given. One outcome is that, under the assumption that the contact points are frictionless and the active contact points are independent, for the existence of passive force closure there must be at least six (three) fixed contact points and one active contact point in the case of three-dimensional (two-dimensional, respectively) space. Finally, a necessary and sufficient condition for active closure is given for the case of frictional point contacts by constraining limbs with enough degrees-of-freedom. This condition consists of a general positioning condition of contact points and the existence condition of nonzero internal force. This condition has a quite natural physical interpretation.
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Li, Shuyang, Paolo Dario, and Zhibin Song. "Prediction of Passive Torque on Human Shoulder Joint Based on BPANN." Applied Bionics and Biomechanics 2020 (August 28, 2020): 1–10. http://dx.doi.org/10.1155/2020/8839791.
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In upper limb rehabilitation training by exploiting robotic devices, the qualitative or quantitative assessment of human active effort is conducive to altering the robot control parameters to offer the patients appropriate assistance, which is considered an effective rehabilitation strategy termed as assist-as-needed. Since active effort of a patient is changeable for the conscious or unconscious behavior, it is considered to be more feasible to determine the distributions of the passive resistance of the patient’s joints versus the joint angle in advance, which can be adopted to assess the active behavior of patients combined with the measurement of robotic sensors. However, the overintensive measurements can impose a burden on patients. Accordingly, a prediction method of shoulder joint passive torque based on a Backpropagation neural network (BPANN) was proposed in the present study to expand the passive torque distribution of the shoulder joint of a patient with less measurement data. The experiments recruiting three adult male subjects were conducted, and the results revealed that the BPANN exhibits high prediction accurate for each direction shoulder passive torque. The results revealed that the BPANN can learn the nonlinear relationship between the passive torque and the position of the shoulder joint and can make an accurate prediction without the need to build a force distribution function in advance, making it possible to draw up an assist-as-needed strategy with high accuracy while reducing the measurement burden of patients and physiotherapists.
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Zhu, Yuting, Tim Giffney, and Kean Aw. "A Dielectric Elastomer-Based Multimodal Capacitive Sensor." Sensors 22, no. 2 (January 14, 2022): 622. http://dx.doi.org/10.3390/s22020622.
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Dielectric elastomer (DE) sensors have been widely used in a wide variety of applications, such as in robotic hands, wearable sensors, rehabilitation devices, etc. A unique dielectric elastomer-based multimodal capacitive sensor has been developed to quantify the pressure and the location of any touch simultaneously. This multimodal sensor is a soft, flexible, and stretchable dielectric elastomer (DE) capacitive pressure mat that is composed of a multi-layer soft and stretchy DE sensor. The top layer measures the applied pressure, while the underlying sensor array enables location identification. The sensor is placed on a passive elastomeric substrate in order to increase deformation and optimize the sensor’s sensitivity. This DE multimodal capacitive sensor, with pressure and localization capability, paves the way for further development with potential applications in bio-mechatronics technology and other humanoid devices. The sensor design could be useful for robotic and other applications, such as fruit picking or as a bio-instrument for the diabetic insole.
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Mazzoleni, Stefano, Elena Battini, Matteo Galgani, Miria Tenucci, Paolo Dario, and Giuseppe Calvosa. "Motion Tracking for Quantitative and Qualitative Assessment of Upper Limb Movements Following Acromioclavicular Joint Ligament Reconstruction: A Pilot Study." Open Biomedical Engineering Journal 12, no. 1 (December 31, 2018): 135–46. http://dx.doi.org/10.2174/1874120701812010135.
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Background: Technological tools as robotic devices and wearable sensors can provide accurate and repeatable measurements of physical variables (e.g., position, velocities, forces) which can be used for quantitative and qualitative assessment of movement analysis and upper limb motor performance. Objective: The study aims to propose a quantitative and qualitative assessment of upper limb motor performance by means of seven kinematic parameters recorded by a passive mechatronic device in patients who underwent a surgical procedure for ligament reconstruction following acromioclavicular joint dislocation. Method: Five patients (mean age: 40 ± 12 years) with acromioclavicular joint dislocation were enrolled. A passive end-effector mechatronic device characterized by 7 degrees of freedom and designed for the assessment of upper limb motor performance - especially for measuring the hand position in three-dimensional space - was used. The Constant-Murley score and seven kinematic parameters were used as clinical outcome measure and quantitative and qualitative assessment, respectively. Results: The preliminary results of this study show no significant differences between the impaired arm and unimpaired arm: the end-effector passive mechatronic device used in this study is able to provide an overall assessment of the upper limb motor performance following shoulder impairment. Conclusion: The motion tracker can be easily used as effective tool for quantitative and qualitative assessment of upper limb motor performance, even several years after the surgical operation.
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Paoletti, P., G. W. Jones, and L. Mahadevan. "Grasping with a soft glove: intrinsic impedance control in pneumatic actuators." Journal of The Royal Society Interface 14, no. 128 (March 2017): 20160867. http://dx.doi.org/10.1098/rsif.2016.0867.
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The interaction of a robotic manipulator with unknown soft objects represents a significant challenge for traditional robotic platforms because of the difficulty in controlling the grasping force between a soft object and a stiff manipulator. Soft robotic actuators inspired by elephant trunks, octopus limbs and muscular hydrostats are suggestive of ways to overcome this fundamental difficulty. In particular, the large intrinsic compliance of soft manipulators such as ‘pneu-nets’—pneumatically actuated elastomeric structures—makes them ideal for applications that require interactions with an uncertain mechanical and geometrical environment. Using a simple theoretical model, we show how the geometric and material nonlinearities inherent in the passive mechanical response of such devices can be used to grasp soft objects using force control, and stiff objects using position control, without any need for active sensing or feedback control. Our study is suggestive of a general principle for designing actuators with autonomous intrinsic impedance control.
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Lin, Keng-Yu, Arturo Gamboa-Gonzalez, and Michael Wehner. "Soft Robotic Sensing, Proprioception via Cable and Microfluidic Transmission." Electronics 10, no. 24 (December 19, 2021): 3166. http://dx.doi.org/10.3390/electronics10243166.
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Current challenges in soft robotics include sensing and state awareness. Modern soft robotic systems require many more sensors than traditional robots to estimate pose and contact forces. Existing soft sensors include resistive, conductive, optical, and capacitive sensing, with each sensor requiring electronic circuitry and connection to a dedicated line to a data acquisition system, creating a rapidly increasing burden as the number of sensors increases. We demonstrate a network of fiber-based displacement sensors to measure robot state (bend, twist, elongation) and two microfluidic pressure sensors to measure overall and local pressures. These passive sensors transmit information from a soft robot to a nearby display assembly, where a digital camera records displacement and pressure data. We present a configuration in which one camera tracks 11 sensors consisting of nine fiber-based displacement sensors and two microfluidic pressure sensors, eliminating the need for an array of electronic sensors throughout the robot. Finally, we present a Cephalopod-chromatophore-inspired color cell pressure sensor. While these techniques can be used in a variety of soft robot devices, we present fiber and fluid sensing on an elastomeric finger. These techniques are widely suitable for state estimation in the soft robotics field and will allow future progress toward robust, low-cost, real-time control of soft robots. This increased state awareness is necessary for robots to interact with humans, potentially the greatest benefit of the emerging soft robotics field.
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Yang, Jia Lun, Kuan Jun Zhu, and Bin Liu. "Type Synthesis of Torsional Mass Dampers as Anti-Galloping Devices by Using Planar Four-Bar Mechanisms." Applied Mechanics and Materials 215-216 (November 2012): 285–88. http://dx.doi.org/10.4028/www.scientific.net/amm.215-216.285.
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The type synthesis of torsional mass dampers (TMDs for short) as anti-galloping devices is very import for the safe operation of power grid. In this paper, the TMDs are considered as passive robotic manipulators, with the aim of introducing planar four-bar mechanisms into the synthesis of TMDs. By utilizing one planar four-bar mechanism or two planar four-bar mechanisms in a single TMDs, 6 TMDs with symmetrical structures and 18 TMDs with non-symmetrical structures are synthesized, which may improve the reasonable applications of the TMDs for the solving the anti-galloping issue of power grid.
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Syrseloudis, Christos E., Ioannis Z. Emiris, Theodore Lilas, and Artemis Maglara. "Design of a Simple and Modular 2-DOF Ankle Physiotherapy Device Relying on a Hybrid Serial-Parallel Robotic Architecture." Applied Bionics and Biomechanics 8, no. 1 (2011): 101–14. http://dx.doi.org/10.1155/2011/592131.
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The aim of this work is to propose a new 2-DOF robotic platform with hybrid parallel-serial structure and to undertake its parametric design so that it can follow the whole range of ankle related foot movements. This robot can serve as a human ankle rehabilitation device. The existing ankle rehabilitation devices present typically one or more of the following shortcomings: redundancy, large size, or high cost, hence the need for a device that could offer simplicity, modularity, and low cost of construction and maintenance. In addition, our targeted device must be safe during operation, disallow undesirable movements of the foot, while adaptable to any human foot. Our detailed study of foot kinematics has led us to a new hybrid architecture, which strikes a balance among all aforementioned goals. It consists of a passive serial kinematics chain with two adjustable screws so that the axes of the chain match the two main ankle-axes of typical feet. An active parallel chain, which consists of two prismatic actuators, provides the movement of the platform. Thus, the platform can follow the foot movements, thanks to the passive chain, and also possesses the advantages of parallel robots, including rigidity, high stiffness and force capabilities. The lack of redundancy yields a simpler device with lower size and cost. The paper describes the kinematics modelling of the platform and analyses the force and velocity transmission. The parametric design of the platform is carried out; our simulations confirm the platform's suitability for ankle rehabilitation.
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Yang, Mingxing, Xingsong Wang, Zhiyong Zhu, Ruru Xi, and Qingcong Wu. "Development and control of a robotic lower limb exoskeleton for paraplegic patients." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 233, no. 3 (March 2, 2018): 1087–98. http://dx.doi.org/10.1177/0954406218761484.
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Robot-assisted therapy has gained wide attention in rehabilitation engineering, allowing patients with lower limb motor disorders to perform repeatable and consistent upright bipedal walking. The goal of this paper is to develop a novel wearable powered exoskeleton that enables the paraplegic to perform basic daily movements for active rehabilitation training of lower limbs. Mechanical structure and driving devices of the exoskeleton are reasonably designed and selected to ensure natural interaction with the user and provide sufficient driving torques in the course of walking. In order to avoid unwanted interaction forces between the exoskeleton and the patient, the passive exoskeleton testing system is proposed to measure and record various postures as the reference trajectories. In addition, a cascaded proportional–integral–derivative controller is designed to complete walking assistance tasks in passive control modes. Four typical trajectory tracking tasks are carried out for the sake of evaluating the accuracy and effectiveness of the proposed control strategy. Further experiments were conducted by a healthy subject wearing the rehabilitation exoskeleton to perform sit-to-stand and level walking, and the results demonstrated that the developed robot-assisted system had the natural period and favorable response patterns.
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YU, HAILONG, LE XIE, CHAO LV, WEI SHAO, YUAN WANG, JINWU WANG, and WENWEI YU. "A SYSTEM FOR UPPER LIMB REHABILITATION AND MOTOR FUNCTION EVALUATION." Journal of Mechanics in Medicine and Biology 15, no. 01 (February 2015): 1550010. http://dx.doi.org/10.1142/s0219519415500104.
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In the conventional upper-limb rehabilitation process, patients have to be relying on therapists to do the exercise and assessments. Using robotic rehabilitation devices, patients can practice independently and intensively with their upper paretic limb. In this study, we hypothesized that a multi-DOF passive mechanism coupled with multi-DOF 3D sensory feedback could provide: (1) safe and nature active exercise; (2) various combinations of degrees of freedom (DOF) for the training of different specific joints; (3) the possibility to realize ideal trajectory. In order to test the hypothesis, we designed a seven-DOF passive exoskeleton-based system for the upper extremity, integrated with virtual reality (VR) technology based 3D feedback. An experiment was done on six healthy subjects and three subjects with upper-limb impairment. All subjects did not experience any problems when handling the device during the intervention. Moreover, Fugl–Meyer Score of the upper extremity Assessment (FMA) scale showed that the three patients have increased the score by 19, 23 and 14, respectively. Wolf Motor Function Test (WMFT) scale showed that the three patients have increased their scores by 22, 22 and 14, respectively.
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Haskiya, W., K. Maycock, and J. A. G. Knight. "A passive compliant wrist for chamferless peg-in-hole assembly operation from vertical and horizontal directions." Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture 212, no. 6 (June 1, 1998): 473–78. http://dx.doi.org/10.1243/0954405981515770.
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This paper presents a chamferless vertical/horizontal remote centre compliance (CVHRCC) mechanism developed for robotic peg-in-hole assembly operations. The wrist adopts the passive accommodation approach and differs from other devices in its category in its ability to accommodate positional errors between the mating parts without a chamfer on either part. In addition, the wrist is designed to work from both the vertical and the horizontal directions. A series of experiments have been carried out for testing the new wrist. The main conclusion of the assembly experiments is that the CVHRCC can work effectively from the vertical direction in accommodating positional errors between chamferless mating parts with large clearance (over 0.2 mm) between the peg and hole.
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Orlova, E., and I. Pogonchenkova. "POS1455 EFFICIENCY OF PASSIVE MECHANOTHERAPY IN COMPLEX REHABILITATION OF PATIENTS WITH OSTEOARTHRITIS." Annals of the Rheumatic Diseases 81, Suppl 1 (May 23, 2022): 1072.2–1072. http://dx.doi.org/10.1136/annrheumdis-2022-eular.3958.
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BackgroundDifferent types of physical exercises relieve pain, improve functional status and quality of life in patients with osteoarthritis (ОА) in addition to drug treatment [1–4].ObjectivesTo evaluate the efficiency of robotic mechanotherapy (continuous passive motion) in the complex rehabilitation of patients with OA.Methods58 patients with ОА of the knee, hip, wrist and hand joints (76% females, age of 49 to 65 years, disease duration of 3 to 11 years) were included in the study and randomized into 2 groups. 28 study group patients underwent robotic passive mechanotherapy (continuous passive motion) for the knee and hip joints using «ARTROMOT K1» machine (Ormed gmbh, Germany), for the wrist and hand joints using «Kinetec Maestra hand and wrist CPM» machine (Kinetec, UK) (10 sessions for 20–25 min) in addition to the standard rehabilitation program (2 weeks). 30 control group patients received only the standard rehabilitation program, which included 10 group sessions of physical exercises for the joints for 45 min under the supervision of a trainer, 10 procedures of electrostatic massage for muscles and periarticular tissues, 10 sessions of occupational therapy for 45 min (joint protection strategies, use of assistive devices and adaptive equipment). All patients received NSAIDs and SYSADOA at standard dosages. Intra-articular corticosteroids were not used. Tender joint count, joint pain on 100-mm VAS, Lequesne and WOMAC indexes, the amplitude of flexion in the knee joint measured by goniometer, the march test (passage time of 20 meters per sec), hand grip strength measured by a dynamometer were evaluated at baseline and at 2 weeks.ResultsAfter 2 weeks in the study group pain on VAS decreased by 40,9% (p<0,05), tender joint count – by 38,7% (p<0,05), Lequesne index – by 1,53 times (р<0,01), WOMAC – by 1,21 times (р<0,01). In the study group the amplitude of flexion in the knee joint increased by 34,2% (p<0,05), the march test decreased by 3,5±1,2 sec (28,8%) (p<0.05), the grip strength of the more affected hand enhanced by 22,3% (p<0,05), of the less affected hand – by 18,5% (р<0,05). In the study group there were statistically significant differences from the control group in all parameters (р<0,05), excluding the grip strength of the less affected hand (р>0,05).Conclusion2-week complex rehabilitation program, including robotic mechanotherapy (continuous passive motion), relieves pain, improves functional ability, motor activity (march test, range of motion in the knee joint, hand grip strength) in patients with OA.References[1]Goh SL, et al. Sports Med 2019;49(5):743–61.[2]Rice D, et al. J Clin Med 2019;8(11):1769.[3]Shi-Qi Wang, et al. Geriatr Orthop Surg Rehabil 2020;11:2151459320973196.[4]Chu-Yang Zeng, et al. Front Physiol 2021;12:94062.Disclosure of InterestsNone declared
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Cherry, Michael S., Sridhar Kota, Aaron Young, and Daniel P. Ferris. "Running With an Elastic Lower Limb Exoskeleton." Journal of Applied Biomechanics 32, no. 3 (June 2016): 269–77. http://dx.doi.org/10.1123/jab.2015-0155.
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Although there have been many lower limb robotic exoskeletons that have been tested for human walking, few devices have been tested for assisting running. It is possible that a pseudo-passive elastic exoskeleton could benefit human running without the addition of electrical motors due to the spring-like behavior of the human leg. We developed an elastic lower limb exoskeleton that added stiffness in parallel with the entire lower limb. Six healthy, young subjects ran on a treadmill at 2.3 m/s with and without the exoskeleton. Although the exoskeleton was designed to provide ~50% of normal leg stiffness during running, it only provided 24% of leg stiffness during testing. The difference in added leg stiffness was primarily due to soft tissue compression and harness compliance decreasing exoskeleton displacement during stance. As a result, the exoskeleton only supported about 7% of the peak vertical ground reaction force. There was a significant increase in metabolic cost when running with the exoskeleton compared with running without the exoskeleton (ANOVA, P < .01). We conclude that 2 major roadblocks to designing successful lower limb robotic exoskeletons for human running are human-machine interface compliance and the extra lower limb inertia from the exoskeleton.
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Ramos-Murguialday, Ander, and Niels Birbaumer. "Brain oscillatory signatures of motor tasks." Journal of Neurophysiology 113, no. 10 (June 2015): 3663–82. http://dx.doi.org/10.1152/jn.00467.2013.
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Noninvasive brain-computer-interfaces (BCI) coupled with prosthetic devices were recently introduced in the rehabilitation of chronic stroke and other disorders of the motor system. These BCI systems and motor rehabilitation in general involve several motor tasks for training. This study investigates the neurophysiological bases of an EEG-oscillation-driven BCI combined with a neuroprosthetic device to define the specific oscillatory signature of the BCI task. Controlling movements of a hand robotic orthosis with motor imagery of the same movement generates sensorimotor rhythm oscillation changes and involves three elements of tasks also used in stroke motor rehabilitation: passive and active movement, motor imagery, and motor intention. We recorded EEG while nine healthy participants performed five different motor tasks consisting of closing and opening of the hand as follows: 1) motor imagery without any external feedback and without overt hand movement, 2) motor imagery that moves the orthosis proportional to the produced brain oscillation change with online proprioceptive and visual feedback of the hand moving through a neuroprosthetic device (BCI condition), 3) passive and 4) active movement of the hand with feedback (seeing and feeling the hand moving), and 5) rest. During the BCI condition, participants received contingent online feedback of the decrease of power of the sensorimotor rhythm, which induced orthosis movement and therefore proprioceptive and visual information from the moving hand. We analyzed brain activity during the five conditions using time-frequency domain bootstrap-based statistical comparisons and Morlet transforms. Activity during rest was used as a reference. Significant contralateral and ipsilateral event-related desynchronization of sensorimotor rhythm was present during all motor tasks, largest in contralateral-postcentral, medio-central, and ipsilateral-precentral areas identifying the ipsilateral precentral cortex as an integral part of motor regulation. Changes in task-specific frequency power compared with rest were similar between motor tasks, and only significant differences in the time course and some narrow specific frequency bands were observed between motor tasks. We identified EEG features representing active and passive proprioception (with and without muscle contraction) and active intention and passive involvement (with and without voluntary effort) differentiating brain oscillations during motor tasks that could substantially support the design of novel motor BCI-based rehabilitation therapies. The BCI task induced significantly different brain activity compared with the other motor tasks, indicating neural processes unique to the use of body actuators control in a BCI context.
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Buccelli, Stefano, Federico Tessari, Fausto Fanin, Luca De Guglielmo, Gianluca Capitta, Chiara Piezzo, Agnese Bruschi, et al. "A Gravity-Compensated Upper-Limb Exoskeleton for Functional Rehabilitation of the Shoulder Complex." Applied Sciences 12, no. 7 (March 25, 2022): 3364. http://dx.doi.org/10.3390/app12073364.
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In the last decade, several exoskeletons for shoulder rehabilitation have been presented in the literature. Most of these devices focus on the shoulder complex and limit the normal mobility of the rest of the body, forcing the patient into a fixed standing or sitting position. Nevertheless, this severely limits the range of activities that can potentially be simulated during the rehabilitation, preventing the execution of occupational therapy which involves the execution of tasks based on activities of daily living (ADLs). These tasks involve different muscular groups and whole-body movements, such as, e.g., picking up objects from the ground. To enable whole-body functional rehabilitation, the challenge is to shift the paradigm of robotic rehabilitation towards machines that can enable wide workspaces and high mobility. In this perspective, here we present Float: an upper-limb exoskeleton designed to promote and accelerate the motor and functional recovery of the shoulder joint complex following post-traumatic or post-surgical injuries. Indeed, Float allows the patient to move freely in a very large workspace. The key component that enables this is a passive polyarticulated arm which supports the total exoskeleton weight and allows the patient to move freely in space, empowering rehabilitation through a deeper interaction with the surrounding environment. A characterization of the reachable workspace of both the exoskeleton and the polyarticulated passive arm is presented. These results support the conclusion that a patient wearing Float can perform a wide variety of ADLs without bearing its weight.
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Abdellatif, Houssem, Martin Grotjahn, and Bodo Heimann. "Independent Identification of Friction Characteristics for Parallel Manipulators." Journal of Dynamic Systems, Measurement, and Control 129, no. 3 (August 28, 2006): 294–302. http://dx.doi.org/10.1115/1.2718242.
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The compensation for friction or joint losses in robotic manipulators contributes to an important improvement of the control quality. Besides appropriate friction modeling, experimental identification of the model parameters is fundamental toward better control performance. Conventionally steady-state friction characteristics are investigated for mechanical systems in the first step. However, and due to the high kinematic coupling, such procedure is already complicated for complex multiple closed-loop mechanisms, like parallel manipulators. Actuation friction of such mechanisms becomes configuration dependent. This paper presents a methodology that deals with such challenge. The kinematic coupling is regarded in the friction model and therefore in the design of the experimental identification. With the proposed strategy, it is possible to identify the steady-state friction parameters independently from any knowledge about inertial or rigid-body dynamics. Friction models for sensorless passive joints can also be provided. Besides, the method is kept very practical, since there is no need for any additional hardware devices or interfaces than a standard industrial control. The suitability for the industrial field is proven by experimental application to PaLiDA that is a six degrees of freedom parallel manipulator equipped with linear directly driven actuators.
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Zhang, Xiaotian, and Girish Krishnan. "A nested pneumatic muscle arrangement for amplified stroke and force behavior." Journal of Intelligent Material Systems and Structures 29, no. 6 (September 22, 2017): 1139–56. http://dx.doi.org/10.1177/1045389x17730920.
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This article presents a compact nested architecture to amplify the displacement and forces of pneumatic artificial muscles for potential use in human assistive devices and other robotic applications. The nested architecture consists of several levels in series, and each level is made up of contracting pneumatic muscles, passive force transfer members, and additively manufactured interconnects. The stroke obtained from the nested pneumatic artificial muscle architecture is not always beneficial and is limited by the length-dependent behavior of pneumatic artificial muscles and other practical manufacturing constraints such as the size of the interconnects. Thus, this article studies the effect of the pneumatic artificial muscle length on its stroke using a modified constrained volume maximization formulation, which predicts the actual shape of the deformed pneumatic artificial muscle, and models additional stiffness due to membrane bending. Using this formulation, a framework is presented to optimally design the number of nested levels and individual actuators in each level to obtain a required stroke. Such a system is designed to actuate the human elbow by an angle of 80°, where almost 40% contraction is obtained using custom-manufactured pneumatic artificial muscles inherently capable of contracting upto 17% of its length. The framework can be used to amplify the stroke and forces of any pneumatic artificial muscle actuator and adapt it to different application requirements.
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Kern, Andrew M., Nikolaos Papachatzis, Jeffrey M. Patterson, Dustin A. Bruening, and Kota Z. Takahashi. "Ankle and midtarsal joint quasi-stiffness during walking with added mass." PeerJ 7 (September 19, 2019): e7487. http://dx.doi.org/10.7717/peerj.7487.
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Examination of how the ankle and midtarsal joints modulate stiffness in response to increased force demand will aid understanding of overall limb function and inform the development of bio-inspired assistive and robotic devices. The purpose of this study is to identify how ankle and midtarsal joint quasi-stiffness are affected by added body mass during over-ground walking. Healthy participants walked barefoot over-ground at 1.25 m/s wearing a weighted vest with 0%, 15% and 30% additional body mass. The effect of added mass was investigated on ankle and midtarsal joint range of motion (ROM), peak moment and quasi-stiffness. Joint quasi-stiffness was broken into two phases, dorsiflexion (DF) and plantarflexion (PF), representing approximately linear regions of their moment-angle curve. Added mass significantly increased ankle joint quasi-stiffness in DF (p < 0.001) and PF (p < 0.001), as well as midtarsal joint quasi-stiffness in DF (p < 0.006) and PF (p < 0.001). Notably, the midtarsal joint quasi-stiffness during DF was ~2.5 times higher than that of the ankle joint. The increase in midtarsal quasi-stiffness when walking with added mass could not be explained by the windlass mechanism, as the ROM of the metatarsophalangeal joints was not correlated with midtarsal joint quasi-stiffness (r = −0.142, p = 0.540). The likely source for the quasi-stiffness modulation may be from active foot muscles, however, future research is needed to confirm which anatomical structures (passive or active) contribute to the overall joint quasi-stiffness across locomotor tasks.
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Xu, Yangsheng, and R. P. Paul. "Robotic Instrumented Complaint Wrist." Journal of Engineering for Industry 114, no. 1 (February 1, 1992): 120–23. http://dx.doi.org/10.1115/1.2899749.
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A robotic complaint wrist which combines a passive compliance device and a displacement sensor has been developed and tested. The device provides the necessary flexibility to accommodate transitions between the position control and force control modes, and avoid large impact forces as a robot makes contact with parts, as well as correct positioning errors and allow the relaxation of tolerances in assembly and manufacturing operations. The device installed between a robot arm and end-effector is composed of two parts: a passive compliance device and a sensing mechanism. The passive compliance is provided by a rubber structure; its configuration can be arranged to yield the desired stiffness ratio along and about each axis. The sensing mechanism consists of a six-joint serial linkage with a transducer at each point. The measured deflection is used to actively control the contact forces and compensate for the positioning error during motion and contact. In this paper, the design features of two prototypes of the device are described. A systematic hybrid position/force control scheme incorporating the device is presented.
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Kim, Hwi Su, Dong Il Park, Chan Hun Park, Byung In Kim, Hyun Min Do, Tae Yong Choi, Doo Hyung Kim, and Jin Ho Kyung. "Variable Passive Compliance Device for Robotic Assembly." Journal of The Korean Society of Manufacturing Technology Engineers 25, no. 6 (December 15, 2016): 517–21. http://dx.doi.org/10.7735/ksmte.2016.25.6.517.
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Smith, W. L., T. P. Charlock, R. Kahn, J. V. Martins, L. A. Remer, P. V. Hobbs, J. Redemann, and C. K. Rutledge. "EOS Terra Aerosol and Radiative Flux Validation: An Overview of the Chesapeake Lighthouse and Aircraft Measurements for Satellites (CLAMS) Experiment." Journal of the Atmospheric Sciences 62, no. 4 (April 1, 2005): 903–18. http://dx.doi.org/10.1175/jas3398.1.
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Abstract NASA developed an Earth Observing System (EOS) to study global change and reduce uncertainties associated with aerosols and other key parameters controlling climate. The first EOS satellite, Terra, was launched in December 1999. The Chesapeake Lighthouse and Aircraft Measurements for Satellites (CLAMS) field campaign was conducted from 10 July to 2 August 2001 to validate several Terra data products, including aerosol properties and radiative flux profiles derived from three complementary Terra instruments: the Clouds and the Earth’s Radiant Energy System (CERES), the Multiangle Imaging Spectroradiometer (MISR), and the Moderate Resolution Imaging Spectroradiometer (MODIS). CERES, MISR, and MODIS are being used to investigate the critical role aerosols play in modulating the radiative heat budget of the earth–atmosphere system. CLAMS’ primary objectives are to improve understanding of atmospheric aerosols, to validate and improve the satellite data products, and to test new instruments and measurement concepts. A variety of in situ sampling devices and passive remote sensing instruments were flown on six aircraft to characterize the state of the atmosphere, the composition of atmospheric aerosols, and the associated surface and atmospheric radiation parameters over the U.S. eastern seaboard. Aerosol particulate matter was measured at two ground stations established at Wallops Island, Virginia, and the Chesapeake Lighthouse, the site of an ongoing CERES Ocean Validation Experiment (COVE) where well-calibrated radiative fluxes and Aerosol Robotic Network (AERONET) aerosol properties have been measured since 1999. Nine coordinated aircraft missions and numerous additional sorties were flown under a variety of atmospheric conditions and aerosol loadings. On one “golden day” (17 July 2001), under moderately polluted conditions with midvisible optical depths near 0.5, all six aircraft flew coordinated patterns vertically stacked between 100 and 65 000 ft over the COVE site as Terra flew overhead. This overview presents a description of CLAMS objectives, measurements, and sampling strategies. Key results, reported in greater detail in the collection of papers found in this special issue, are also summarized.
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Yin, Peng, Liang Yang, and Shengguan Qu. "Development of an ergonomic wearable robotic device for assisting manual workers." International Journal of Advanced Robotic Systems 18, no. 5 (September 1, 2021): 172988142110467. http://dx.doi.org/10.1177/17298814211046745.
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Sometimes the automation equipment cannot solve all the problems for industrial enterprises, and human workers cannot be replaced by machines in production activities. The possibility that the workers develop work-related musculoskeletal disorders, while performing high intensity and repetitive installation and commissioning work over a long period of time, is very high. A mechanical design of a passive upper extremities exoskeleton suit to reduce the muscles effort of upper limbs is proposed in this article. Thereby, a decrease in the work-related musculoskeletal disorders risk is expected. To evaluate the ergonomic contribution of the passive upper extremities exoskeleton suit, both static and dynamic tool lift experiments were designed, in which 10 volunteers were asked to participate in the experiments. The surface electromyography is captured from these volunteers to measure the magnitude of muscle output forces that are applied with and then without passive upper extremities exoskeleton suit assistance during the process of manual handling, and the tests are collected for comparison. Results show that there is a significant decrease in the output force and fatigue in deltoid, biceps brachii, and brachioradiali, especially in biceps brachial which is up to 67.8%. The implementation of passive upper extremities exoskeleton suit is not only a benefit to reduce workers’ upper extremities fatigue but also ultimately increase the work efficiency by minimizing work-related musculoskeletal disorders and safety accidents.
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Ribas Neto, Antonio, Julio Fajardo, Willian Hideak Arita da Silva, Matheus Kaue Gomes, Maria Claudia Ferrari de Castro, Eric Fujiwara, and Eric Rohmer. "Design of Tendon-Actuated Robotic Glove Integrated with Optical Fiber Force Myography Sensor." Automation 2, no. 3 (September 3, 2021): 187–201. http://dx.doi.org/10.3390/automation2030012.
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People taken by upper limb disorders caused by neurological diseases suffer from grip weakening, which affects their quality of life. Researches on soft wearable robotics and advances in sensor technology emerge as promising alternatives to develop assistive and rehabilitative technologies. However, current systems rely on surface electromyography and complex machine learning classifiers to retrieve the user intentions. In addition, the grasp assistance through electromechanical or fluidic actuators is passive and does not contribute to the rehabilitation of upper-limb muscles. Therefore, this paper presents a robotic glove integrated with a force myography sensor. The glove-like orthosis features tendon-driven actuation through servo motors, working as an assistive device for people with hand disabilities. The detection of user intentions employs an optical fiber force myography sensor, simplifying the operation beyond the usual electromyography approach. Moreover, the proposed system applies functional electrical stimulation to activate the grasp collaboratively with the tendon mechanism, providing motion support and assisting rehabilitation.
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Southern, W. R., and C. G. Lyons. "The study of a passive accommodation device in robotic insertion processes." Journal of Materials Processing Technology 124, no. 3 (June 2002): 261–66. http://dx.doi.org/10.1016/s0924-0136(01)01131-1.
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Jutard, A., T. Redarce, A. Fakri, and M. Betemps. "Geometric model of the DCR-LAI compliant device." Robotica 7, no. 2 (April 1989): 151–57. http://dx.doi.org/10.1017/s0263574700005464.
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SUMMARYIn this paper the authors present a mathematical model of geometric and kinematic behaviour of an original passive compliant device provided with two rotation centres, called DCR–LAI system. This device is designed for a robotic assembly of parts with very small tolerances including a chamfer at the hole. The given modélisation may be used as a decision aid for the choice of a compliant device with regard to characteristics of parts being assembled.
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Liu, Yiming, Huanxi Zheng, Ling Zhao, Shiyuan Liu, Kuanming Yao, Dengfeng Li, Chunki Yiu, et al. "Electronic Skin from High-Throughput Fabrication of Intrinsically Stretchable Lead Zirconate Titanate Elastomer." Research 2020 (October 17, 2020): 1–11. http://dx.doi.org/10.34133/2020/1085417.
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Electronic skin made of thin, soft, stretchable devices that can mimic the human skin and reconstruct the tactile sensation and perception offers great opportunities for prosthesis sensing, robotics controlling, and human-machine interfaces. Advanced materials and mechanics engineering of thin film devices has proven to be an efficient route to enable and enhance flexibility and stretchability of various electronic skins; however, the density of devices is still low owing to the limitation in existing fabrication techniques. Here, we report a high-throughput one-step process to fabricate large tactile sensing arrays with a sensor density of 25 sensors/cm2 for electronic skin, where the sensors are based on intrinsically stretchable piezoelectric lead zirconate titanate (PZT) elastomer. The PZT elastomer sensor arrays with great uniformity and passive-driven manner enable high-resolution tactile sensing, simplify the data acquisition process, and lower the manufacturing cost. The high-throughput fabrication process provides a general platform for integrating intrinsically stretchable materials into large area, high device density soft electronics for the next-generation electronic skin.
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Fausti, Davide, Gianluigi Petrogalli, Jorge Hugo Villafañe, and Rodolfo Faglia. "Study, Design and Preliminary Tests of an Automatic Device for Elbow Rehabilitation." Applied Mechanics and Materials 783 (August 2015): 1–15. http://dx.doi.org/10.4028/www.scientific.net/amm.783.1.
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The robotic rehabilitation therapy is being used more and more together with conventional rehabilitation because it allows a rapid improvement of the functional abilities of patients. This fact is due, especially in CPM (Continuous Passive Motion), both at a more constant repeatability of the movements performed and to the possibility of using machines for many hours, thanks to their "tireless". The study presented in this article shows the development of elbow rehabilitation device, from design and prototype realization until preliminary tests on patients.
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Kadivar, Zahra, Christopher E. Beck, Roger N. Rovekamp, and Marcia K. O’Malley. "Single limb cable driven wearable robotic device for upper extremity movement support after traumatic brain injury." Journal of Rehabilitation and Assistive Technologies Engineering 8 (January 2021): 205566832110024. http://dx.doi.org/10.1177/20556683211002448.
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Introduction Recently, soft exosuits have been proposed for upper limb movement assistance, most supporting single joint movements. We describe the design of a portable wearable robotic device (WRD), “Armstrong,” able to support three degrees-of-freedom of arm movements, and report on its feasibility for movement support of individuals with hemiparesis after traumatic brain injury (TBI). Methods We introduce Armstrong and report on a pilot evaluation with two male individuals post-TBI (T1 and T2) and two healthy individuals. Testing involved elbow flexion/extension with and without robotic-assisted shoulder stabilization; shoulder abduction with and without robotic-assisted elbow stabilization; and assisted shoulder abduction and flexion. Outcome measures included range of motion and root mean square trajectory and velocity errors. Results TBI subjects performed active, passive, hybrid and active assistive movements with Armstrong. Subjects showed improvements in movement trajectory and velocity. T1 benefited from hybrid, active, and assistive modes due to upper extremity weakness and muscle tone. T2 benefited from hybrid and assistive modes due to impaired coordination. Healthy subjects performed isolated movements of shoulder and elbow with minimal trajectory and velocity errors. Conclusions This study demonstrates the safety and feasibility of Armstrong for upper extremity movement assistance for individuals with TBI, with therapist supervision.
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Miao, Qing, Mingming Zhang, Yupu Wang, and Sheng Q. Xie. "Design and Interaction Control of a New Bilateral Upper-Limb Rehabilitation Device." Journal of Healthcare Engineering 2017 (2017): 1–9. http://dx.doi.org/10.1155/2017/7640325.
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This paper proposed a bilateral upper-limb rehabilitation device (BULReD) with two degrees of freedom (DOFs). The BULReD is portable for both hospital and home environment, easy to use for therapists and patients, and safer with respect to upper-limb robotic exoskeletons. It was implemented to be able to conduct both passive and interactive training, based on system kinematics and dynamics, as well as the identification of real-time movement intention of human users. Preliminary results demonstrate the potential of the BULReD for clinical applications, with satisfactory position and interaction force tracking performance. Future work will focus on the clinical evaluation of the BULReD on a large sample of poststroke patients.
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Kawashima, Kenji, Jumpei Arata, Kanako Harada, and Kotaro Tadano. "Special Issue on Robotics for Medical Applications." Journal of Robotics and Mechatronics 34, no. 6 (December 20, 2022): 1215. http://dx.doi.org/10.20965/jrm.2022.p1215.
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In recent years, the field of robots for medical applications has been expanding rapidly. Robots effectively augment their operators’ skills, enabling them to achieve accuracy and high precision during complex procedures. The use of robots improves the quality of life of patients and the quality of medical research. Therefore, the research and development of robots for medical applications will become more active in aging societies. This special issue focuses on the design and control of robots as well as integrated technologies for robots for medical applications. These include navigation, simulator, image guidance, training, and validation technologies for robots. The special issue consists of 17 papers with various studies related to medical robots. There are 7 papers on assistant robots, including their passive and active controls, devices, and sensors. There are 10 papers related to minimally invasive surgery and neurosurgery involving robots, including papers on sensors, actuators, navigation, haptic display devices, the mechanical design of devices, and other topics. The editors are confident that this special issue will greatly contribute to further progress in robotics We sincerely thank the authors for their fine contributions and the reviewers for their generous contributions of time and effort. We would also like to thank the Editorial Board of the Journal of Robotics and Mechatronics for their help with this special issue.
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JIANG, XIAN-ZHI, CAI-HUA XIONG, RONG-LEI SUN, and YOU-LUN XIONG. "CHARACTERISTICS OF THE ROBOTIC JOINT OF A 9-DOF UPPER LIMB REHABILITATION ROBOT DRIVEN BY PNEUMATIC MUSCLES." International Journal of Humanoid Robotics 08, no. 04 (December 2011): 743–60. http://dx.doi.org/10.1142/s0219843611002642.
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This paper presents a wearable exoskeleton upper limb rehabilitation robot that consists of eight active joints and one passive joint. Each active joint is driven by two pneumatic muscles (PMs) in opposing pair configuration and each PM drives the joint through a steel wire with a flexible sleeve and a tension device. These factors incorporate with characteristics of PM make the rehabilitation robot system very complex (nonlinear, time-varying, and time-delay). In this paper, the friction force and characteristics of open-loop control of one of the robotic joints has been studied. The quasi-static model of the robotic joint have been established based on experimental methods. In addition, the performances of three control modes have also been researched. These works would be helpful to the future work such as the control of the rehabilitation robot.
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Gretsch, Kendall F., Henry D. Lather, Kranti V. Peddada, Corey R. Deeken, Lindley B. Wall, and Charles A. Goldfarb. "Development of novel 3D-printed robotic prosthetic for transradial amputees." Prosthetics and Orthotics International 40, no. 3 (May 2015): 400–403. http://dx.doi.org/10.1177/0309364615579317.
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Background and aim: Upper extremity myoelectric prostheses are expensive. The Robohand demonstrated that three-dimensional printing reduces the cost of a prosthetic extremity. The goal of this project was to develop a novel, inexpensive three-dimensional printed prosthesis to address limitations of the Robohand. Technique: The prosthesis was designed for patients with transradial limb amputation. It is shoulder-controlled and externally powered with an anthropomorphic terminal device. The user can open and close all five fingers, and move the thumb independently. The estimated cost is US$300. Discussion: After testing on a patient with a traumatic transradial amputation, several advantages were noted. The independent thumb movement facilitated object grasp, the device weighed less than most externally powered prostheses, and the size was easily scalable. Limitations of the new prosthetic include low grip strength and decreased durability compared to passive prosthetics. Clinical relevance Most children with a transradial congenital or traumatic amputation do not use a prosthetic. A three-dimensional printed shoulder-controlled robotic prosthesis provides a cost effective, easily sized and highly functional option which has been previously unavailable.
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Umbetov, Sergey V., and Sergey P. Pronin. "Classification and analysis of instruments for measuring corrosion damage to internal surfaces of underground metal pipeline." Yugra State University Bulletin 16, no. 2 (October 9, 2020): 27–38. http://dx.doi.org/10.17816/byusu2020227-38.
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This paper presents a classification of corrosion damage to the inner surface of the pipeline, a comparative description of the effect of corrosion damage on the inner surface of metal pipes. The most common on the inner surfaces of a metal pipeline are ulcerative, pitting, intergranular, cracking, pitting, crevice and through corrosion. Methods and tools for controlling corrosion damage are presented, and their capabilities are analyzed. It is shown that the development of diagnostics of the inner surface of pipelines is on the path to creating robotic tools. Existing robotic devices today have disadvantages. Firstly, for some injuries, the presence of an operator at the place of passage of the pipeline is necessary, which does not exclude subjective diagnostics. Secondly, as a rule, methods require emergency excavations. Thirdly, they are narrowly targeted, they do not allow to diagnose all types of corrosion damage in general. In conclusion, a modular robotic complex is proposed, which combines a number of functions that exclude these shortcomings.
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Kawabata, Kuniaki, Fumiaki Takemura, Shinichi Sagara, Kazuo Ishii, and Teruo Fujii. "Special Issue on Underwater Robotics and Mechatronics." Journal of Robotics and Mechatronics 25, no. 5 (October 20, 2013): 771. http://dx.doi.org/10.20965/jrm.2013.p0771.
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With two-thirds of the earth covered by oceans, rivers, lakes, ponds, and glaciers – underwater work becomes specialized in often extreme environments that need unusual solutions. The unique techniques required are central to the major research and development fields of robotics and mechatronics. Research related to finding the resources and environmental observation makes underwater technology an attractive field for study. This issue covers advanced R&D in underwater robotics and mechatronics, their applications and uses. The 7 papers brought together introduce the latest in underwater robotics and mechatronics findings. Three are related to visual systems and image processing for underwater observation and inspection and visual survey. Three are related to designs for mechanisms enabling mobile manipulators, buoyancy control devices and deformable tensegrity structures for underwater vehicles. The last but not least paper implements control of underwater vehicles with passive thrusters. These cutting-edge presentations exploring underwater robotics and mechatronics are both innovative and interesting and may give you new ideas for your own work. We thank the authors for their fine contributions and the reviewers for their generous time and effort. In closing, we thank the Editorial Board of the Journal of Robotics and Mechatronics for helping make this issue possible.