Moreover, owing to the constraints on Fatigue strength of a soft continuum robot, the robot arm fractures when the requisite training steps surpass the maximum threshold it can endure. Therefore, training robots with high DoFs using DRL in the real world faces considerable challenges (Fig. 1b)...
This is the AMBIDEX from Naver Labs: a 2-armed robot with a cable driven mechanism that can operate safely around humans. It has a lightweight design and
Positional accuracy and load capacity of the EE rely on high stiffness of the robot in practice engineering. For CDPRs, the stiffness is depended on the stiffness of cables as well as the internal tension exerted on the cables. Although the flexible property of cables can increase the flexibili...
Positional accuracy and load capacity of the EE rely on high stiffness of the robot in practice engineering. For CDPRs, the stiffness is depended on the stiffness of cables as well as the internal tension exerted on the cables. Although the flexible property of cables can increase the flexibili...
High-performance soft wearable robots for human augmentation and gait rehabilitation 1.3.3.1 Design Due to the requirement of having a system conformal to the human back anatomy and unobtrusive for the natural movements, the proposed robot leverages a hyperredundant continuum structure that is able to...
joint disks. Four cables are distributed at 90 degrees intervals along the backbone, which connects the joint disks. Stainless steel springs are used to construct the shape of the robot. The pose of the CDCR is changed by pulling the cables with motors to complete the trajectory tracking task...
Analytical Derivatives for Efficient Mechanical Simulations of Hybrid Soft Rigid Robots Algorithms that use derivatives of governing equations have accelerated rigid robot simulations and improved their accuracy, enabling the modeling of compl... AT Mathew,F Boyer,V Lebastard,... 被引量: 0发表: 2024...
Intuitive remote multiple degrees of freedom (DOF) robot control has distinct advantages in field robotics applications, especially for a cable-driven parallel robot (CDPR) capable of operating in a wide workspace with a heavy payload. This study proposes a novel intuitive teleoperation method for a...
the robots need to complete rehabilitation training on a safe basis. This paper presents an approach for smooth trajectory planning for a cable-driven parallel waist rehabilitation robot (CDPWRR) based on the rehabilitation evaluation factors. First, motion capture technology is used to collect the ...
designed a fractional-order PID controller for an ankle-rehabilitation robot [30]. By adjusting the parameters of the proposed controller, the trajectory monitoring performance improved and the steady-state monitoring errors decreased. The parameters of fractional PID controllers can be adjusted, thus ...