RATS: A Robotic Arm Training System Designed for Rats

2021 ◽  
pp. 1-10
Author(s):  
Haohan Zhang ◽  
Tatiana Luna ◽  
Lillian Yang ◽  
John Martin ◽  
Sunil Agrawal
Keyword(s):  
Mathematical Models ◽  
Parallel Mechanism ◽  
Robotic System ◽  
Training System ◽  
Robotic Arm ◽  
Arm Motions ◽  
Research Platform ◽  
Design Requirements ◽  
Neurological Insult ◽  
Forelimb Movements

Abstract This paper presents a novel robotic system to characterize and retrain reaching in rats. This robot is intended to be a research platform for rehabilitation of forelimb movements in rats. In this paper, we focus on the design of this robotic system. We present the design requirements, mathematical models, and details of the physical device. A parallel mechanism with a special alignment of the component chains is used to accommodate observed reaching motions of a rat's forelimb. Additionally, we demonstrate the use of this robot to record forelimb trajectories. Three healthy rats were used to record repeated reaching motions while the robot applied nearly zero force. We believe that this robotic system can be used in future training studies with rats who have impaired arm motions due to a neurological insult.

RATS: A Robotic Arm Training System Designed for Rats

2020 ◽  
Author(s):  
Haohan Zhang ◽  
Tatiana Luna ◽  
Lillian Yang ◽  
John Martin ◽  
Sunil Agrawal
Keyword(s):  
Mathematical Models ◽  
Parallel Mechanism ◽  
Robotic System ◽  
Training System ◽  
Robotic Arm ◽  
Arm Motions ◽  
Research Platform ◽  
Design Requirements ◽  
Neurological Insult ◽  
Forelimb Movements

Abstract This paper presents a novel robotic system to characterize and retrain reaching in rats. This robot is intended to be a research platform for rehabilitation of forelimb movements in rats. In this paper, we focus on the design of this robotic system. We present the design requirements, mathematical models, and details of the physical device. A parallel mechanism with a special alignment of the component chains is used to accommodate observed reaching motions of a rat’s forelimb. Additionally, we demonstrate the use of this robot to record forelimb trajectories. Three healthy rats were used to record repeated reaching motions while the robot applied nearly zero force. We believe that this robotic system can be used in future training studies with rats who have impaired arm motions due to a neurological insult.

Development of Autonomous Robotic Cataract Surgery Device

2016 ◽  
Author(s):  
Matthew Francom ◽  
Clinton Burns ◽  
Philip Repisky ◽  
Benjamin Medina ◽  
Alex Kinney ◽  
...  
Keyword(s):  
Cataract Surgery ◽  
Visual Feedback ◽  
Surgical Procedure ◽  
Parallel Mechanism ◽  
Horizontal Plane ◽  
Robotic System ◽  
Design Work ◽  
In Series ◽  
Extracapsular Cataract Surgery ◽  
Future Work

The current rate of incidence of cataracts is increasing faster than treatment capacity, and an autonomous robotic system is proposed to mitigate this by carrying out cataract surgeries. The robot is composed of a three actuator RPS parallel mechanism in series with an actuated rail mounted roller that moves around the eye, and is designed to perform a simplified version of the extracapsular cataract surgery procedure autonomously. The majority of the design work has been completed, and it is projected that the system will have a tool accuracy of 0.167 mm, 0.141 mm, and 0.290 mm in the x, y, and z directions, respectively. Such accuracies are within the acceptable errors of 1.77mm in the x and y directions of the horizontal plane, as well as 1.139 mm in the vertical z direction. Tracking of the tool when moving at 2 mm/s should give increments of 0.08 mm per frame, ensuring constant visual feedback. Future work will involve completing construction and testing of the device, as well as adding the capability to perform a more comprehensive surgical procedure if time allows.

Robotic Arm Training System for Mitigation of Upper Limb Tremor

2017 ◽  
Vol 2017 (0) ◽  
pp. 2A2-D03
Author(s):  
Yuki Kitamura ◽  
Yasuhide Yoshitake ◽  
Minoru Shinohara ◽  
Atsutoshi Ikeda
Keyword(s):  
Upper Limb ◽  
Training System ◽  
Robotic Arm

A Motion Platform Integrated UAV Pilot Training and Evaluation System for Future Civilian Applications

2008 ◽  
Author(s):  
James T. Hing ◽  
Paul Y. Oh
Keyword(s):  
Evaluation System ◽  
Research Direction ◽  
Training System ◽  
Flight Simulation ◽  
Pilot Training ◽  
Motion Platform ◽  
Pilot Performance ◽  
Virtual Tools ◽  
Research Platform ◽  
And Training

The potential for UAVs to benefit the civilian consumer is driving the demand for the integration of these vehicles into the national airspace. With UAV accidents occurring at a significantly higher rate than commercial airlines, the urgent issue becomes designing systems and protocols that can prevent UAV accidents, better train UAV operators and augment pilot performance. This paper presents three directions of research stemming from the goal of a UAV piloting and training system. Research direction one is the development of a research platform to assess UAV pilot skills and recreate the sensation of shared fate for UAV pilots. The second research direction looks at utilizing flight simulation packages to create virtual tools for training UAV pilots. The third direction covers the investigation of UAV’s in near earth environments as future applications will place UAVs in these areas.

On the role of stiffness and synchronization in human–robot handshaking

2020 ◽  
Vol 39 (14) ◽  
pp. 1796-1811 ◽  
Author(s):  
Domenico Mura ◽  
Espen Knoop ◽  
Manuel G Catalano ◽  
Giorgio Grioli ◽  
Moritz Bächer ◽  
...  
Keyword(s):  
Personality Traits ◽  
Impedance Control ◽  
Robotic Arm ◽  
Robot Arm ◽  
Passive Behavior ◽  
Arm Motions ◽  
Human Arm ◽  
Human Likeness

This article presents a system for soft human–robot handshaking, using a soft robot hand in conjunction with a lightweight and impedance-controlled robot arm. Using this system, we study how different factors influence the perceived naturalness, and give the robot different personality traits. Capitalizing on recent findings regarding handshake grasp force regulation, and on studies of the impedance control of the human arm, we investigate the role of arm stiffness as well as the kinesthetic synchronization of human and robot arm motions during the handshake. The system is implemented using a lightweight anthropomorphic arm, with a Pisa/IIT Softhand wearing a sensorized silicone glove as the end-effector. The robotic arm is impedance-controlled, and its stiffness changes according to different laws under investigation. An internal observer is employed to synchronize the human and robot arm motions. Thus, we simulate both active and passive behavior of the robotic arm during the interaction. Using the system, studies are conducted where 20 participants are asked to interact with the robot, and then rate the perceived quality of the interaction using Likert scales. Our results show that the control of the robotic arm kinesthetic behavior does have an effect on the interaction with the robot, in term of its perceived personality traits, responsiveness, and human-likeness. Our results pave the way towards robotic systems that are capable of performing human–robot interactions in a more human-like manner, and with personality.

Robotic arm operation training system for persons with disabled upper limbs

2010 ◽  
Author(s):  
Natsuki Yamanobe ◽  
Yujin Wakita ◽  
Kazuyuki Nagata ◽  
Mathias Clerc ◽  
Takashi Kinose ◽  
...  
Keyword(s):  
Training System ◽  
Robotic Arm ◽  
Upper Limbs

scholarly journals Cavitator Design for Straight-Running Supercavitating Torpedoes

2021 ◽  
Vol 11 (14) ◽  
pp. 6247
Author(s):  
Min-Jae Kim ◽  
Seon-Hong Kim ◽  
Kurn-Chul Lee ◽  
Bu-Geun Paik ◽  
Moon-Chan Kim
Keyword(s):  
Mathematical Models ◽  
Design Method ◽  
Design Procedure ◽  
Hydrodynamic Forces ◽  
Small Scale ◽  
Total Drag ◽  
Level Flight ◽  
Supercavitating Vehicle ◽  
Maximum Range ◽  
Design Requirements

A practical cavitator design method for straight-running-type supercavitating torpedoes was developed in this paper. Design requirements were first drawn in terms of torpedo performance characteristics, such as maximum range and motion stability. This method determines the optimum cavitator satisfying the design requirements that not only minimize the total drag of the torpedo, extending the maximum range, but also provide hydrodynamic forces required for straight level flight. The design procedure includes determining a design cavitation number and cavitator type (disk or cone) for obtaining the optimal cavitator that minimizes the total drag of a torpedo in straight level flight. To determine such an optimal cavitator, the equations of force and moment equilibrium for straight level flight were iteratively solved by the existing mathematical models that determine the cavity shapes generated by disk- and cone-shaped cavitators and hydrodynamic forces acting on the vehicle. For validation, model experiments on a small-scale supercavitating vehicle were conducted in a towing tank, and the results agree well with those of the mathematical models used in this study. A preliminary design based on the newly proposed method was also implemented for a realistic supercavitating vehicle. More precise computations using CFD should be conducted to investigate the physics in more detail in the near future.

Modeling and Control of Multi-Units Robotic System: Boom Crane and Robotic Arm

2021 ◽  
Author(s):  
Michele Ambrosino ◽  
Philippe Delens ◽  
Emanuele Garone
Keyword(s):  
Robotic System ◽  
Robotic Arm ◽  
Modeling And Control ◽  
And Control ◽  
Boom Crane

RATS: A Robotic Arm Training System Designed for Rats

2021 ◽  
Author(s):  
Haohan Zhang ◽  
Tatiana Luna ◽  
Lillian Yang ◽  
John Martin ◽  
Sunil Agrawal
Keyword(s):  
Training System ◽  
Robotic Arm

Robotic arm- Automated real time object detection

2022 ◽  
Vol 13 (1) ◽  
pp. 0-0
Keyword(s):  
Object Detection ◽  
Real Time ◽  
Low Cost ◽  
Robotic System ◽  
Human Operator ◽  
Robotic Arm ◽  
Time Out ◽  
Precision And Accuracy ◽  
Increase Efficiency

In robotic industry, today, interactions between human and machine usually consists of programming and maintaining machine using human operator. Using a robotic system in any industry for work provides precision and a certain level of accuracy. A robotic entity such as a robotic arm will not ask for time out and can work efficiently day and night which will in turn increase efficiency in workplace. In this paper, we have explained about an arm created, which works in such a way that while the robotic arm is working, camera is able to identify any object it sees which is taken care by the worker looking over the arm. The major outcome and result is the increased efficiency in workplace, precision and accuracy in low cost which can also be used for house hold chores too.

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