A Locking Compliant Device Inspired by the Anatomy of the Spine

Kern, Nicole I.; Majewski, Thomas J.; Triolo, Ronald J.; Kobetic, Rudi; Quinn, Roger D.

doi:10.1115/1.2991143

Cited by 4 publications

(2 citation statements)

References 1 publication

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“…Kossett et al [32,33] used a dog clutch to switch between two modes of the robot: ground mode and flight mode. A special type of dog clutch was designed by Kern et al [34]. They use a rope that runs through several parts with mating surfaces.…”

Section: Dog Clutchmentioning

confidence: 99%

Lock Your Robot: A Review of Locking Devices in Robotics

Plooij

Mathijssen

Cherelle

et al. 2015

IEEE Robot. Automat. Mag.

141

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Locking devices are widely used in robotics, for instance to lock springs, joints or to reconfigure robots. This review paper classifies the locking devices currently described in literature and preforms a comparative study. Designers can, as such, better determine which locking device best matches the needs of their application. The locking devices are divided into three main categories based on different locking principles: mechanical locking, friction-based locking and singularity locking. Different lockers in each category can be passive lockers or active lockers. Based on an elaborate literature study, the paper summarizes the findings by comparing different locking devices, based on a set of properties of a theoretical ideal locking device.

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Section: Dog Clutchmentioning

confidence: 99%

Lock Your Robot: A Review of Locking Devices in Robotics

Plooij

Mathijssen

Cherelle

et al. 2015

IEEE Robot. Automat. Mag.

141

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show abstract

“…A device called the split collar locking mechanism was previously designed in conjunction with the HNP. It was composed of a string of ball joints surrounded by attached overlapping collars [7]. Locking was achieved by sliding each set of collars against one another to force compression and prevent bending.…”

Section: Related Workmentioning

confidence: 99%

A Convertible Spinal Orthosis for Controlled Torso Rigidity

Kern

Triolo

Kobetic

et al. 2013

Applied Bionics and Biomechanics

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A traditional spinal orthosis in conjunction with a hip-knee-ankle-foot orthosis (HKAFO) improves posture in persons with paraplegia during standing and walking. It also limits the wearer's range of motion when worn during other activities, such as vehicle transfer or sitting and reaching for objects. In order to regain full torso flexibility the user would need to remove the spinal orthosis which can be arduous and time consuming. A Convertible Spinal Orthosis (CSO) that allows the user to switch between Locked rigid torso support and Unlocked free motion has been designed, fabricated and tested. It shows promise for increasing functionality, wear time and subject comfort. Analysis of movement has been performed with an able-bodied and a paraplegic subject wearing a rigid spinal orthosis, the CSO in both states, and without any bracing. Configuration state had the most impact on lateral bending. Mean values for the paraplegic subject of 27 • , 38 • , 48 • , and 48 • and for the able-bodied subject of 22 • , 26 • , 48 • , and 45 • were found for lateral bending of the upper torso relative to the thighs in the Rigid, Locked, Unlocked, and No-Brace states, respectively.

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Artificial Intelligence Tools for Better Use of Axiomatic Design

Akay

Kim

2021

IOP Conf. Ser.: Mater. Sci. Eng.

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Axiomatic Design (AD) provides a powerful thinking framework for solving complex engineering problems through the concept of design domains and diligent mapping and decomposition between functional and physical domains. Despite this utility, AD is yet to be implemented for widespread use by design practitioners solving real world problems in industry and exists primarily in the realm of academia. This is due, in part, to a high level of design expertise and familiarity with its methodology required to apply the AD approach effectively. It is difficult to correctly identify, extract, and abstract top-level functional requirements (FRs) based on early-stage design research. Furthermore, guiding early-stage design by striving to maintain functional independence, the first Axiom, is difficult at a systems level without explicit methods of quantifying the relationship between high-level FRs and design parameters (DPs). To address these challenges, Artificial Intelligence (AI) methods, specifically in deep learning (DL) assisted Natural Language Processing (NLP), have been applied to represent design knowledge for machines to understand, and, following AD principles, support the practice of human designers. NLP-based question-answering is demonstrated to automate early-stage identification of FRs and to assist design decomposition by recursively mapping and traversing down along the FR-DP hierarchical structure. Functional coupling analysis could then be conducted with vectorized FRs and DPs from NLP-based language embeddings. This paper presents a framework for how AI can be applied to design based on the principles of AD, which will enable a virtual design assistant system based on both human and machine intelligence.

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A Locking Compliant Device Inspired by the Anatomy of the Spine

Cited by 4 publications

References 1 publication

Lock Your Robot: A Review of Locking Devices in Robotics

Lock Your Robot: A Review of Locking Devices in Robotics

A Convertible Spinal Orthosis for Controlled Torso Rigidity

Artificial Intelligence Tools for Better Use of Axiomatic Design

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