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Artykuły w czasopismach na temat „Cable manipulation”

Autor: Grafiati

Data publikacji: 7 września 2024

Data aktualizacji: 31 lipca 2025

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1

Almaghout, Karam, and Alexandr Klimchik. "Manipulation Planning for Cable Shape Control." Robotics 13, no. 1 (2024): 18. http://dx.doi.org/10.3390/robotics13010018.

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The control of deformable linear objects (DLOs) such as cables presents a significant challenge for robotic systems due to their unpredictable behavior during manipulation. This paper introduces a novel approach for cable shape control using dual robotic arms on a two–dimensional plane. A discrete point model is utilized for the cable, and a path generation algorithm is developed to define intermediate cable shapes, facilitating the transformation of the cable into the desired profile through a formulated optimization problem. The problem aims to minimize the discrepancy between the cable conf

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2

Nozaki, Kyoto, Changjian Ying, Yuichiro Matsuura, and Kimitoshi Yamazaki. "Manipulation Planning for Wiring Connector-Attached Cables Considering Linear Object’s Deformability." International Journal of Automation Technology 17, no. 4 (2023): 399–409. http://dx.doi.org/10.20965/ijat.2023.p0399.

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In this paper, we propose a method of manipulation planning for cable wiring. The method enables to take into account the deformation of cables while connector incorporation process. Using a physical simulation that predicts the shape of a cable based on the pose of both ends of the cable, we generate a connector moving path that avoids intereference between the cable and surrounding structures. We conducted experiments under several different environments and several different lengths of cables, and confirmed that actual cable manipulation can stably be achieved by using the proposed method.

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Sanchez, Daniel, Weiwei Wan, and Kensuke Harada. "Towards Tethered Tool Manipulation Planning with the Help of a Tool Balancer." Robotics 9, no. 1 (2020): 11. http://dx.doi.org/10.3390/robotics9010011.

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Handling and maneuvering tools across a robot workspace is a challenging task that often requires the implementation of constrained motion planning. In the case of wired or tethered tools, their maneuvering becomes considerably harder by the tool cable. If the cable presence is not considered, the robot motions may make the cable become entangled with the robot arms or elements of its workspace, causing accidents or unnecessary strain on the robot and the tool. Furthermore, the behavior of the tool cable during manipulation and its degree of entanglement around the robot are difficult to predi

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Cho, Gun-Rae, Geonhui Ki, Mun-Jik Lee, Hyungjoo Kang, Min-Gyu Kim, and Ji-Hong Li. "Experimental Study on Tele-Manipulation Assistance Technique Using a Touch Screen for Underwater Cable Maintenance Tasks." Journal of Marine Science and Engineering 9, no. 5 (2021): 483. http://dx.doi.org/10.3390/jmse9050483.

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In underwater environments restricted from human access, many intervention tasks are performed by using robotic systems like underwater manipulators. Commonly, the robotic systems are tele-operated from operating ships; the operation is apt to be inefficient because of restricted underwater information and complex operation methods. In this paper, an assistance technique for tele-manipulation is investigated and evaluated experimentally. The key idea behind the assistance technique is to operate the manipulator by touching several points on the camera images. To implement the idea, the positio

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5

Gebauer, Daniel, Jonas Dirr, Luca Martin, and Rüdiger Daub. "Grasp Analysis for the Robot-Based Manipulation of Pre-Assembled Cables with Electrical Connectors." Applied Sciences 13, no. 11 (2023): 6462. http://dx.doi.org/10.3390/app13116462.

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The mounting of pre-assembled cables with electrical connectors is mainly carried out manually in industry today. An exemplary application is the interconnection of battery modules. Automation of such assembly tasks offers the potential for increasing efficiency but requires the design of suitable gripper systems. This is challenging as the cable induces state-dependent forces and torques on the gripper system, which must be transmitted via the complex surface geometries of the plugs. Currently, the required grasp force cannot be determined in advance but only after prototypes have been manufa

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6

Zhou, Xiaobo, Seung-kook Jun, and Venkat Krovi. "Tension distribution shaping via reconfigurable attachment in planar mobile cable robots." Robotica 32, no. 2 (2013): 245–56. http://dx.doi.org/10.1017/s0263574713001008.

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SUMMARYTraditional cable robots derive their manipulation capabilities using spooling winches at fixed base locations. In our previous work, we examined enhancing manipulation capabilities of cable robots by the addition of base mobility to spooling winches (allowing a group of mobile robots to cooperatively manipulate a payload using cables). Base mobility facilitated the regulation of the tension-direction (via active coordination of mobile bases) and allowed for better conditioning of the wrench-feasible workspace. In this paper we explore putting idler pulleys on the payload attachment as

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7

Li, Changquing, and Christopher D. Rahn. "Design of Continuous Backbone, Cable-Driven Robots." Journal of Mechanical Design 124, no. 2 (2002): 265–71. http://dx.doi.org/10.1115/1.1447546.

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Continuous backbone robots driven by cables have many potential applications in dexterous manipulation for manufacturing and space environments. Design of these robots requires specification of a stiff yet bendable backbone, selection of cable support heights and spacings, and development of a cable drive system. The robot arm divides into sections that are subdivided into segments bounded by cable supports. Cable pairs attach to the end of each section and provide two axis bending. Thus, with many sections, the arm can be bent into complex shapes to allow redundant positioning of the end effe

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8

Almaghout, K., and A. Klimchik. "Vision-Based Robotic Comanipulation for Deforming Cables." Nelineinaya Dinamika 18, no. 5 (2022): 0. http://dx.doi.org/10.20537/nd221213.

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Although deformable linear objects (DLOs), such as cables, are widely used in the majority of life fields and activities, the robotic manipulation of these objects is considerably more complex compared to the rigid-body manipulation and still an open challenge. In this paper, we introduce a new framework using two robotic arms cooperatively manipulating a DLO from an initial shape to a desired one. Based on visual servoing and computer vision techniques, a perception approach is proposed to detect and sample the DLO as a set of virtual feature points. Then a manipulation planning approach is i

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9

Estevez, Julian, Gorka Garate, Jose Manuel Lopez-Guede, and Mikel Larrea. "Review of Aerial Transportation of Suspended-Cable Payloads with Quadrotors." Drones 8, no. 2 (2024): 35. http://dx.doi.org/10.3390/drones8020035.

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Payload transportation and manipulation by rotorcraft drones are receiving a lot of attention from the military, industrial and logistics research areas. The interactions between the UAV and the payload, plus the means of object attachment or manipulation (such as cables or anthropomorphic robotic arms), may be nonlinear, introducing difficulties in the overall system performance. In this paper, we focus on the current state of the art of aerial transportation systems with suspended loads by a single UAV and a team of them and present a review of different dynamic cable models and control syst

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10

Lin, J., CS Huang, and J. Chang. "A mechatronic kit with a control methodology for a modualized cable-suspended robot." Journal of Vibration and Control 22, no. 20 (2016): 4211–26. http://dx.doi.org/10.1177/1077546315573905.

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Cable-suspended robots are categorized as a type of parallel manipulator that has recently attracted interest in terms of manipulation tasks. The main goal of this paper is to develop a novel mechatronic kit with a control methodology for a modularized cable-suspended robot. The advantages of such system owns modular and reconfigurable over conventional robots. In addition, position and orientation of the end-effector is forced toward the desired values by control of cable lengths. Hence, the new approach for forward and inverse kinematic calculation procedure based on the change of the cable

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11

Jeong, Donghwa, and Kiju Lee. "Design and analysis of an origami-based three-finger manipulator." Robotica 36, no. 2 (2017): 261–74. http://dx.doi.org/10.1017/s0263574717000340.

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SUMMARYThis paper describes a new robotic manipulator with three fingers based on an origami twisted tower design. The design specifications, kinematic description, and results from the stiffness and durability tests for the selected origami design are presented. The robotic arm is made of a 10-layer twisted tower, actuated by four cables with pulleys driven by servo motors. Each finger is made of a smaller 11-layer tower and uses a single cable directly attached to a servo motor. The current hardware setup supports vision-based autonomous control and internet-based remote control in real time

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12

Sanchez, Daniel, Weiwei Wan, and Kensuke Harada. "Tethered Tool Manipulation Planning With Cable Maneuvering." IEEE Robotics and Automation Letters 5, no. 2 (2020): 2777–84. http://dx.doi.org/10.1109/lra.2020.2974675.

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13

Chang, Peng, and Taşkın Padır. "Model-Based Manipulation of Linear Flexible Objects: Task Automation in Simulation and Real World." Machines 8, no. 3 (2020): 46. http://dx.doi.org/10.3390/machines8030046.

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Manipulation of deformable objects is a desired skill in making robots ubiquitous in manufacturing, service, healthcare, and security. Common deformable objects (e.g., wires, clothes, bed sheets, etc.) are significantly more difficult to model than rigid objects. In this research, we contribute to the model-based manipulation of linear flexible objects such as cables. We propose a 3D geometric model of the linear flexible object that is subject to gravity and a physical model with multiple links connected by revolute joints and identified model parameters. These models enable task automation i

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14

Liang, Zhuo, Pengkun Quan, and Shichun Di. "Stiffness Regulation of Cable-Driven Redundant Manipulators Through Combined Optimization of Configuration and Cable Tension." Mathematics 13, no. 11 (2025): 1714. https://doi.org/10.3390/math13111714.

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Cable-driven redundant manipulators (CDRMs) are widely applied in various fields due to their notable advantages. Stiffness regulation capability is essential for CDRMs, as it enhances their adaptability and stability in diverse task scenarios. However, their stiffness regulation still faces two main challenges. First, stiffness regulation methods that involve physical structural modifications increase system complexity and reduce flexibility. Second, methods that rely solely on cable tension are constrained by the inherent stiffness of the cables, limiting the achievable regulation range. To

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15

Kim, Hyeonjin, and Jinhyun Kim. "Prediction of Cable Behavior Using Finite Element Analysis Results for Flexible Cables." Sensors 23, no. 12 (2023): 5707. http://dx.doi.org/10.3390/s23125707.

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In actual industrial sites, verifying the framework for cable manipulation is crucial. Therefore, it is necessary to simulate the deformation of the cable to predict its behavior accurately. By simulating the behavior in advance, it is possible to reduce the time and cost required for work. Although finite element analysis is used in various fields, the results may differ from the actual behavior depending on the method of defining the analysis model and analysis conditions. This paper aims to select appropriate indicators that can effectively cope with finite element analysis and experiments

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16

Ding, Li, Guibing Zhu, Yangmin Li, and Yaoyao Wang. "Cable-Driven Unmanned Aerial Manipulator Systems for Water Sampling: Design, Modeling, and Control." Drones 7, no. 7 (2023): 450. http://dx.doi.org/10.3390/drones7070450.

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The unmanned aerial manipulator (UAM) is a kind of aerial robot that combines a quadrotor aircraft and an onboard manipulator. This paper focuses on the problems of structure design, system modeling, and motion control of an UAM applied for water sampling. A novel, light, cable-driven UAM has been designed. The drive motors installed in the base transmit the force and motion remotely through cables, which can reduce the inertia ratio of the manipulator. The Newton–Euler method and Lagrangian method are adopted to establish the quadrotor model and manipulator model, respectively. External distu

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17

Ding, Yi, Feng Niu, Shi Min Zhang, and Jin Jun Zhang. "Simulation of Hydraulic Characteristic of Injecting Cable into Coiled Tubing." Applied Mechanics and Materials 644-650 (September 2014): 1682–88. http://dx.doi.org/10.4028/www.scientific.net/amm.644-650.1682.

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In order to control and monitor downhole equipment, it is needed to inject cable into coiled tubing. Being directly against the drawback of the traditional injecting method, a new method of adding pressurized water has been put forward. By using Workbench software, this paper researched the regular pattern that water flow’s pressureaffects cable in coiled tubing after it has various deformations in both entrance and main part of coiled tubing, taking 25mm diameter coiled tubing with 3mm diameter cable as an example. It also simulated the effects of water flow toward cable in coiled tubing as w

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18

TOZUKA, Keisuke, and Hiroshi IGARASHI. "Elimination Method of Manipulation Resistance for Cable-driven Haptic Interface." Proceedings of the Conference on Information, Intelligence and Precision Equipment : IIP 2020 (2020): 1D04. http://dx.doi.org/10.1299/jsmeiip.2020.1d04.

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19

ABE, Akira, and Misato OGURA. "211 Vibration Control for a Pendulum via Cable-Length Manipulation." Proceedings of the Dynamics & Design Conference 2010 (2010): _211–1_—_211–4_. http://dx.doi.org/10.1299/jsmedmc.2010._211-1_.

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20

Nguyen, Van Pho, Wai Tuck Chow, Sunil Bohra Dhyan, Bohan Zhang, Boon Siew Han, and Hong Yee Alvin Wong. "Low-Cost Cable-Driven Robot Arm with Low-Inertia Movement and Long-Term Cable Durability." Robotics 13, no. 9 (2024): 128. http://dx.doi.org/10.3390/robotics13090128.

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Our study presents a novel design for a cable-driven robotic arm, emphasizing low cost, low inertia movement, and long-term cable durability. The robotic arm shares similar specifications with the UR5 robotic arm, featuring a total of six degrees of freedom (DOF) distributed in a 1:1:1:3 ratio at the arm base, shoulder, elbow, and wrist, respectively. The three DOF at the wrist joints are driven by a cable system, with heavy motors relocated from the end-effector to the shoulder base. This repositioning results in a lighter cable-actuated wrist (weighing 0.8 kg), which enhances safety during h

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21

Masoud, Ziyad N. "Oscillation Control of Quay-Side Container Cranes Using Cable-Length Manipulation." Journal of Dynamic Systems, Measurement, and Control 129, no. 2 (2006): 224–28. http://dx.doi.org/10.1115/1.2432362.

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Cranes play a very important role in the shipping industry. As a result there is an increasing demand on faster and safer cranes. Inertial forces on crane payloads due to crane-commanded trajectories can cause payloads to experience large sway oscillations. Consequently, sway control on quay-side container cranes is becoming a requirement rather than a luxury. Some modern quay-side container cranes use independent front and rear hoisting cables. This degree of freedom can be utilized to control payload sway oscillations. In this work, a delayed feedback algorithm is used to produce a controlle

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22

Zhang, Deyang, Bo Cheng, and Zhiyong Yue. "Design and analysis of cable-driven mechanical gripper for complex manipulation." Journal of Physics: Conference Series 1601 (July 2020): 022048. http://dx.doi.org/10.1088/1742-6596/1601/2/022048.

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23

Gungor, G., M. H. Turhan, H. Jamshidifar, and B. Fidan. "Online Estimation and Compensation of Friction in Industrial Cable Robot Manipulation." IFAC-PapersOnLine 48, no. 3 (2015): 1332–37. http://dx.doi.org/10.1016/j.ifacol.2015.06.270.

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24

Feng, Fei, Yi Wei Liu, Hong Liu, and He Gao Cai. "The Design and Comparison Study on the Large-Scale End-Effector of Large Space Manipulator." Advanced Materials Research 308-310 (August 2011): 2095–103. http://dx.doi.org/10.4028/www.scientific.net/amr.308-310.2095.

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The space manipulator which is mounted on a space structure or spacecraft to manipulate space payloads is important for the on-orbit-servicing. Its manipulation tasks depend on its end-effector. The flexibility of the large space manipulator will result in residual vibration on its tip, and let the manipulator have poor capability of end positioning. To overcome the drawbacks mentioned-above, the end-effector needs strong capability of misalignment tolerance and soft capturing. On the base of these requirements and analysis, two kinds of end-effector schemes are presented and designed in detai

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25

Gu, Jinjing, and Zhibo Wang. "Influence of Vehicle Wake on the Control of Towed Systems." Applied Sciences 14, no. 11 (2024): 4944. http://dx.doi.org/10.3390/app14114944.

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The hydrodynamic wake generated by the underwater vehicle’s motion has a considerable impact on the movement of the towed system underwater. This paper utilizes the lumped mass method to model the towed cable in order to improve the accuracy of predicting its position and attitude in the wake, and to determine the suitable cable-towed position. Velocity is transferred from the flow field to the cable dynamic model in an innovative way to imitate the motion of the cable. Several iterations are conducted to enhance the dynamic reactivity of the cable system. Numerical simulations are used to mod

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26

Cho, Gun Rae, Geonhui Ki, and Ji-Hong Li. "Touch Screen Based Assistance Technique for Underwater Manipulation of Cable Burying ROV." Journal of the Korean Society for Precision Engineering 36, no. 4 (2019): 349–61. http://dx.doi.org/10.7736/kspe.2019.36.4.349.

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Seriani, S., P. Gallina, and A. Wedler. "A modular cable robot for inspection and light manipulation on celestial bodies." Acta Astronautica 123 (June 2016): 145–53. http://dx.doi.org/10.1016/j.actaastro.2016.03.020.

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QIN, Yili, Adrien ESCANDE, and Eiichi YOSHIDA. "Dual-arm Cable Manipulation by Whole-body Control of a Humanoid Robot." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018 (2018): 2A2—H11. http://dx.doi.org/10.1299/jsmermd.2018.2a2-h11.

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29

La Vigne, Hughes, Guillaume Charron, David Rancourt, and Alexis Lussier Desbiens. "The Mamba: A Suspended Manipulator to Sample Plants in Cliff Environments." Drones 8, no. 4 (2024): 139. http://dx.doi.org/10.3390/drones8040139.

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Conservation efforts in cliff habitats pose unique challenges due to their inaccessibility, limiting the study and protection of rare endemic species. This project introduces a novel approach utilizing aerial manipulation through a suspended manipulator attached with a cable under a drone to address these challenges. Unlike existing solutions, the Mamba provides a horizontal reach up to 8 m to approach cliffs while keeping the drone at a safe distance. The system includes a model-based control system relying solely on an inertial measurement unit (IMU), reducing sensor requirements and computi

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30

Rodriguez-Castaño, Angel, Saeed Rafee Nekoo, Honorio Romero, Rafael Salmoral, José Ángel Acosta, and Anibal Ollero. "Installation of Clip-Type Bird Flight Diverters on High-Voltage Power Lines with Aerial Manipulation Robot: Prototype and Testbed Experimentation." Applied Sciences 11, no. 16 (2021): 7427. http://dx.doi.org/10.3390/app11167427.

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This work presents the application of an aerial manipulation robot for the semi-autonomous installation of clip-type bird flight diverters on overhead power line cables. A custom-made prototype is designed, developed, and experimentally validated. The proposed solution aims to reduce the cost and risk of current procedures carried out by human operators deployed on suspended carts, lifts, or manned helicopters. The system consists of an unmanned aerial vehicle (UAV) equipped with a custom-made tool. This tool allows the high force required for the diverter installation to be generated; however

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Rodriguez-Castaño, Angel, Nekoo Saeed Rafee, Honorio Romero, Rafael Salmoral, Jose Angel Acosta, and Anibal Ollero. "Installation of Clip-Type Bird Flight Diverters on High-Voltage Power Lines with Aerial Manipulation Robot: Prototype and Testbed Experimentation." Applied Sciences 11, no. 7427 (2021): 1–16. https://doi.org/10.3390/app11167427.

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This work presents the application of an aerial manipulation robot for the semi-autonomous installation of clip-type bird flight diverters on overhead power line cables. A custom-made prototype is designed, developed, and experimentally validated. The proposed solution aims to reduce the cost and risk of current procedures carried out by human operators deployed on suspended carts, lifts, or manned helicopters. The system consists of an unmanned aerial vehicle (UAV) equipped with a custom-made tool. This tool allows the high force required for the diverter installation to be generated; however

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32

Xiong, Hao, and Xiumin Diao. "The effects of cables' strain and specific stiffness on the stiffness of cable-driven parallel manipulators." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 233, no. 15 (2019): 5448–59. http://dx.doi.org/10.1177/0954406219846536.

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A cable-driven parallel manipulator is driven by a set of cables instead of rigid links. Since cables usually have more flexibility than rigid links, the stiffness of a cable-driven parallel manipulator has been a concern for many applications that require controllable system stiffness. This paper studies how cables' strain and specific stiffness affect the stiffness of a cable-driven parallel manipulator that has p degrees of freedom and [Formula: see text] cables. A decoupled stiffness model of a cable-driven parallel manipulator is derived mathematically. In the decoupled stiffness model, c

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33

Wang, Changhao, Yuyou Zhang, Xiang Zhang, et al. "Offline-Online Learning of Deformation Model for Cable Manipulation With Graph Neural Networks." IEEE Robotics and Automation Letters 7, no. 2 (2022): 5544–51. http://dx.doi.org/10.1109/lra.2022.3158376.

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Kostikov, Alexander, Alexander Perig, Oleksii Larichkin, Alexander Stadnik, and Eduard Gribkov. "Research into payload swaying reduction through cable length manipulation during Boom crane motion." FME Transactions 47, no. 3 (2019): 464–76. http://dx.doi.org/10.5937/fmet1903464k.

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SANO, Kazuki, Kimitoshi YAMAZAKI, and Tadashi YAMAZAKI. "Flat-Flexible-Cable Manipulation for Constructing Electric Appliance by a Dual-armed Robot." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2017 (2017): 1P2—A12. http://dx.doi.org/10.1299/jsmermd.2017.1p2-a12.

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Song, Zhibin, Wenjie Zhang, Wenhui Zhang, and Dario Paolo. "A Novel Biopsy Capsule Robot Based on High-Speed Cutting Tissue." Cyborg and Bionic Systems 2022 (August 8, 2022): 1–11. http://dx.doi.org/10.34133/2022/9783517.

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The capsule robot (CR) is a promising endoscopic method in gastrointestinal diagnosis because of its low discomfort to users. Most CRs are used to acquire image information only and lack the ability to collect samples. Although some biopsy capsule robots (BCRs) have been developed, it remains challenging to acquire the intestinal tissue while avoiding tearing and adhesion due to the flexibility of colonic tissue. In this study, we develop a BCR with a novel sampling strategy in which soft tissue is scratched with sharp blades rotating at high speed to avoid tissue tearing. In the BCR design, a

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37

Sanalitro, Dario, Heitor J. Savino, Marco Tognon, Juan Cortes, and Antonio Franchi. "Full-Pose Manipulation Control of a Cable-Suspended Load With Multiple UAVs Under Uncertainties." IEEE Robotics and Automation Letters 5, no. 2 (2020): 2185–91. http://dx.doi.org/10.1109/lra.2020.2969930.

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Yu, Son-Cheol, Junku Yuh, and Jinwhan Kim. "Armless underwater manipulation using a small deployable agent vehicle connected by a smart cable." Ocean Engineering 70 (September 2013): 149–59. http://dx.doi.org/10.1016/j.oceaneng.2013.06.006.

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Campeau-Lecours, Alexandre, Simon Foucault, Thierry Laliberte, Boris Mayer-St-Onge, and Clement Gosselin. "A Cable-Suspended Intelligent Crane Assist Device for the Intuitive Manipulation of Large Payloads." IEEE/ASME Transactions on Mechatronics 21, no. 4 (2016): 2073–84. http://dx.doi.org/10.1109/tmech.2016.2531626.

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Lee, Jongseok, Ribin Balachandran, Konstantin Kondak, et al. "Virtual Reality via Object Pose Estimation and Active Learning: Realizing Telepresence Robots with Aerial Manipulation Capabilities." Field Robotics 3, no. 1 (2023): 323–67. http://dx.doi.org/10.55417/fr.2023010.

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This paper presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device, but also a virtual reality (VR) interface that provides real-time 3D displays of the robot’s workspace as well as a haptic guidance to its remotely located operator. To realize this, multiple sensors, namely, a LiDAR, cameras, and IMUs are utilized. For processing of the acquired sensory data, pose estimation pipelines are devised for industrial objects of both known and unknown geometries. We further propose an activ

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41

Wang, Mei, and Jing Wu. "Cable Fault Recognition Based on the Wavelet Energy Spectrum of Mode Components." Applied Mechanics and Materials 427-429 (September 2013): 834–37. http://dx.doi.org/10.4028/www.scientific.net/amm.427-429.834.

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When a fault appeared in a power cable transmission line, the transient current with high frequencies would be produced in the system. Three independent mode components could be obtained by applying the phase mode transformation to the transient current. For different types of the faults, the three independent mode components have different features. Based on wavelet energy spectrum of mode components, a method for cable fault recognition is developed in this paper. First, the fault current is decomposed by using Karenbaue transformation matrix. Then, wavelet transformation is uses to obtain t

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NOZAKI, Kyoto, Yuichiro MATSUURA, and Kimitoshi YAMAZAKI. "Manipulation Planning of Wiring a Cable with Connector Considering Shape Transition of Deformable Linear Object." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2022 (2022): 2A1—N07. http://dx.doi.org/10.1299/jsmermd.2022.2a1-n07.

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Dragone, Donatella, Francesca Federica Donadio, Chiara Mirabelli, et al. "Design and Experimental Validation of a 3D-Printed Embedded-Sensing Continuum Robot for Neurosurgery." Micromachines 14, no. 9 (2023): 1743. http://dx.doi.org/10.3390/mi14091743.

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A minimally-invasive manipulator characterized by hyper-redundant kinematics and embedded sensing modules is presented in this work. The bending angles (tilt and pan) of the robot tip are controlled through tendon-driven actuation; the transmission of the actuation forces to the tip is based on a Bowden-cable solution integrating some channels for optical fibers. The viability of the real-time measurement of the feedback control variables, through optoelectronic acquisition, is evaluated for automated bending of the flexible endoscope and trajectory tracking of the tip angles. Indeed, unlike c

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Diao, Xiumin, and Ou Ma. "Force-closure analysis of 6-DOF cable manipulators with seven or more cables." Robotica 27, no. 2 (2009): 209–15. http://dx.doi.org/10.1017/s0263574708004591.

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SUMMARYA cable manipulator controls its end-effector by a number of cables. If the cables can balance any external and inertia wrenches at a certain pose of the end-effector, the cable manipulator is said to have a force-closure at this pose. Since a cable can work only in tension, the force-closure at a specific pose may not exist. Thus, how to check the existence of force-closure at a given pose is an important issue for design and control of cable manipulators. This paper describes a systematic method of verifying the existence of force-closure at a specific pose of a general 6-DOF cable ma

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Stark, Eran, Tibor Koos, and György Buzsáki. "Diode probes for spatiotemporal optical control of multiple neurons in freely moving animals." Journal of Neurophysiology 108, no. 1 (2012): 349–63. http://dx.doi.org/10.1152/jn.00153.2012.

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Neuronal control with high temporal precision is possible with optogenetics, yet currently available methods do not enable to control independently multiple locations in the brains of freely moving animals. Here, we describe a diode-probe system that allows real-time and location-specific control of neuronal activity at multiple sites. Manipulation of neuronal activity in arbitrary spatiotemporal patterns is achieved by means of an optoelectronic array, manufactured by attaching multiple diode-fiber assemblies to high-density silicon probes or wire tetrodes and implanted into the brains of ani

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He, Zixun, Yutaka Ito, Shotaro Saito, Sakura Narumi, Yousun Kang, and Duk Shin. "Development of a Cable-Driven Bionic Spherical Joint for a Robot Wrist." Biomimetics 10, no. 1 (2025): 52. https://doi.org/10.3390/biomimetics10010052.

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Wrist movements play a crucial role in upper-limb motor tasks. As prosthetic and robotic hand technologies have evolved, increasing attention has been focused on replicating the anatomy and functionality of the wrist. Closely imitating the biomechanics and movement mechanisms of human limbs is expected to enhance the overall performance of bionic robotic hands. This study presents the design of a tendon-driven bionic spherical robot wrist, utilizing two pairs of cables that mimic antagonist muscle pairs. The cables are actuated by pulleys driven by servo motors, allowing for two primary wrist

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Goh, Guo Liang, Xi Huang, William Toh, et al. "Joint angle prediction for a cable-driven gripper with variable joint stiffness through numerical modeling and machine learning." International Journal of AI for Materials and Design 1, no. 1 (2024): 2328. http://dx.doi.org/10.36922/ijamd.2328.

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Soft grippers in automation, particularly those with variable joint stiffness, offer promising possibilities for precise manipulation tasks. However, accurately predicting finger joint bending angles in this field poses significant challenges due to the soft and complex nature of the grippers, making modeling and angle prediction difficult. This paper presents the development of a predictive model for precisely controlling bending angles in multi-material printed soft grippers with variable stiffness, which are pivotal for delicate manipulation tasks in automation. In particular, we explore a

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Patil, Raveendra H., Mette Laegdsmand, Jørgen E. Olesen, and John R. Porter. "Soil Temperature Manipulation to Study Global Warming Effects in Arable Land: Performance of Buried Heating-cable Method." Environment and Ecology Research 1, no. 4 (2013): 196–204. http://dx.doi.org/10.13189/eer.2013.010402.

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Hanai, Toshinori, Naoto Taneda, Kae Doki, and Shinji Doki. "1A1-P22 Path planning of autonomous mobile robots considering the curvature of the cable(Mobile Manipulation Robot)." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2013 (2013): _1A1—P22_1—_1A1—P22_2. http://dx.doi.org/10.1299/jsmermd.2013._1a1-p22_1.

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Ansari, Yasmin, Mariangela Manti, Egidio Falotico, Yoan Mollard, Matteo Cianchetti, and Cecilia Laschi. "Towards the development of a soft manipulator as an assistive robot for personal care of elderly people." International Journal of Advanced Robotic Systems 14, no. 2 (2017): 172988141668713. http://dx.doi.org/10.1177/1729881416687132.

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Manipulators based on soft robotic technologies exhibit compliance and dexterity which ensures safe human–robot interaction. This article is a novel attempt at exploiting these desirable properties to develop a manipulator for an assistive application, in particular, a shower arm to assist the elderly in the bathing task. The overall vision for the soft manipulator is to concatenate three modules in a serial manner such that (i) the proximal segment is made up of cable-based actuation to compensate for gravitational effects and (ii) the central and distal segments are made up of hybrid actuati

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