A straightforward and miniature implementation method of postural synergies for replicating human grasp characteristics accurately and intuitively

2021 ◽  
Author(s):  
Yuan Liu ◽  
Li Jiang ◽  
Hong Liu ◽  
Dong Ming
Keyword(s):  
Transmission Ratio ◽  
Physical Parameters ◽  
Robot Hand ◽  
Design Framework ◽  
Electrical System ◽  
Implementation Method ◽  
Complex Mapping ◽  
Motion Characteristics ◽  
Novel Design ◽  
Postural Synergies

Abstract The postural synergies have great potentials to replicate human grasp characteristics, simplify grasp control and reduce the number of hardware needed actuators. However, due to the complex mapping relationship and jagged transmission ratio, the implemented mechanisms are always too bulky and loose which greatly limits its application. For current solutions, the replicating accuracy of motion characteristics or control intuition are compromised, and hitherto no work reports the replicating errors in literatures. To overcome these limitations, we present a novel design framework to determine the actuation configuration, implemented scheme and physical parameters. In this way, the mechanism is miniaturized and can be compactly embedded in hand palm, a self-contained synergy robot hand that integrated with mechanism, sensors and suited electrical system is built. The experiments demonstrate that the robot hand can accurately replicate the motion characteristics of two primary synergies, keep the control intuition to simplify grasp control, perform a better anthropomorphic motion capability and grasp different objects with versatile grasp functionality.

scholarly journals A Novel Design Framework for Structures/Materials with Enhanced Mechanical Performance

Materials ◽  
2018 ◽  
Vol 11 (4) ◽  
pp. 576 ◽  
Author(s):  
Jie Liu ◽  
Xiaonan Fan ◽  
Guilin Wen ◽  
Qixiang Qing ◽  
Hongxin Wang ◽  
...  
Keyword(s):  
Mechanical Performance ◽  
Design Framework ◽  
Novel Design

A Novel Design Framework for Tightly Coupled IMU/GNSS Sensor Fusion Using Inverse-Kinematics, Symbolic Engines, and Genetic Algorithms

2019 ◽  
Vol 19 (23) ◽  
pp. 11424-11436 ◽  
Author(s):  
Soroush Sheikhpour Kourabbaslou ◽  
Alan Zhang ◽  
Mohamed Maher Atia
Keyword(s):  
Genetic Algorithms ◽  
Sensor Fusion ◽  
Inverse Kinematics ◽  
Design Framework ◽  
Tightly Coupled ◽  
Novel Design

A Bisociative Design Framework for Knowledge Discovery Across Seemingly Unrelated Product Domains

2012 ◽  
Author(s):  
Conrad S. Tucker ◽  
Sung Woo Kang
Keyword(s):  
Domain Knowledge ◽  
Current Data ◽  
Data Driven ◽  
Design Framework ◽  
Specific Domain ◽  
Cross Domain ◽  
Product Design Process ◽  
Product Domains ◽  
Multiple Domains ◽  
Novel Design

The Bisociative Design framework proposed in this work aims to quantify hidden, previously unknown design synergies/insights across seemingly unrelated product domains. Despite the overabundance of data characterizing the digital age, designers still face tremendous challenges in transforming data into knowledge throughout the design processes. Data driven methodologies play a significant role in the product design process ranging from customer preference modeling to detailed engineering design. Existing data driven methodologies employed in the design community generate mathematical models based on data relating to a specific domain and are therefore constrained in their ability to discover novel design insights beyond the domain itself (I.e., cross domain knowledge). The Bisociative Design framework proposed in this work overcomes the limitations of current data driven design methodologies by decomposing design artifacts into form patterns, function patterns and behavior patterns and then evaluating potential cross-domain design insights through a proposed multidimensional Bisociative Design metric. A hybrid marine model involving multiple domains (capable of flight and marine navigation) is used as a case study to demonstrate the proposed Bisociative Design framework and explain how associations and novel design models can be generated through the discovery of hidden, previously unknown patterns across multiple, unrelated domains.

scholarly journals Design and Mechanical Analysis of Bionic Foldable Beetle Wings

2018 ◽  
Vol 2018 ◽  
pp. 1-10 ◽  
Author(s):  
Caidong Wang ◽  
Chen Wang ◽  
Yu Ning ◽  
Lumin Chen ◽  
Xinjie Wang
Keyword(s):  
Dihedral Angle ◽  
Dynamic Models ◽  
Kinematic Model ◽  
Mechanical Analysis ◽  
Physical Parameters ◽  
Flight Performance ◽  
Motion Simulation ◽  
Flexible Wings ◽  
The Relationship ◽  
Novel Design

In order to improve the flight performance of collapsible aircrafts, a novel mechanism of bionic foldable wings of beetle is designed based on the four-plate mechanism theory. The folding and unfolding movements of the bionic foldable wings are driven by motor and torsion hinges. Based on the D-H method, a kinematic model of wings is established to analyze the dihedral angle of adjacent plates. The folding ratio of an area in different plate creasing angles has been derived and calculated. Utilizing the kinematic and static models produced, as well as considering the folding ratio and output motor torque, the optimal physical parameters of folding wings are obtained. Dynamic models of rigid and flexible wings were established using ADAMS, and a motion simulation was performed. The relationship between dihedral angle and torque during the folding process of both rigid and flexible wings was obtained. The results provide a better understanding of the folding mechanism through the formulation of rigid-flexible wing analysis, as well as demonstrating a novel design of insect-mimicking artificial wings for small aerial vehicles.

An Origami Parallel Structure Integrated Deployable Continuum Robot

2015 ◽  
Author(s):  
Ketao Zhang ◽  
Chen Qiu ◽  
Jian S. Dai
Keyword(s):  
Translational Motion ◽  
Kinematic Model ◽  
Parallel Structure ◽  
Continuum Robots ◽  
Helical Springs ◽  
Parallel Structures ◽  
Driven System ◽  
Continuum Robot ◽  
Motion Characteristics ◽  
Novel Design

This paper presents a novel design for continuum robots in light of origami inspired folding techniques. The work of the present paper starts from design of a crease pattern, which consists of two triangular bases and three waterbomb bases, and folding process for creating an origami parallel structure in 3D from the crease pattern in 2D. Mapping the origami parallel structure to an equivalent kinematic model, the motion characteristics of the origami structure are unraveled in terms of kinematic principles. The analysis reveals that mixed rotational and translational motion of the origami parallel structure enables both axial contraction and bending motion. A novel multi-section continuum robot with integrated origami parallel structures and bias elements is then proposed to imitate not only bending motion but also contraction of continuum apparatus in nature. According to kinematics of the proposed continuum robot and features of the embedded helical spring in each module, three actuation schemes and their enabled two typical working phases with a tendon driven system are presented. A prototype of the continuum robot with six modules connected in serial is produced and tested. The functionality of the proposed continuum robot by integrating the origami parallel structure as its skeleton and helical springs as the compliant backbone is validated by the preliminary experimental results.

scholarly journals A novel design framework for solar thermal/electrical activation of building envelopes

2019 ◽  
Vol 1343 ◽  
pp. 012085
Author(s):  
Linus Walker ◽  
Alice Chevrier ◽  
Illias Hischier ◽  
Arno Schlueter
Keyword(s):  
Solar Thermal ◽  
Electrical Activation ◽  
Design Framework ◽  
Building Envelopes ◽  
Novel Design
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