A Spherical Active Joint for Humanoids and Humans

Mghames, Sariah; Catalano, Manuel G.; Bicchi, Antonio; Grioli, Giorgio

doi:10.1109/lra.2019.2893423

Cited by 13 publications

(12 citation statements)

References 21 publications

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“…At the moment, however, this does not prevent the pilot from operating the robot in a satisfactory way. We believe that a more anthropo morphic design of the kinematic structure (i.e., at least 3 DoF configured as a spherical joint [15]) could enable a better per formance in terms of both vision capabilities and user experi ence (by reducing the typical motion sickness that can occur after intense use of a VR system).…”

Section: Experiments and Discussionmentioning

confidence: 99%

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Alter-Ego: A Mobile Robot With a Functionally Anthropomorphic Upper Body Designed for Physical Interaction

Lentini

Settimi

Caporale

et al. 2019

IEEE Robot. Automat. Mag.

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H istorically, robots first found application in factories and plants. Until recently, the most noticeable examples of robot systems direct ly sold to the consumer were limited to edutain ment systems (e.g., NAO [1]), automated chore robots [26], and social telepresence platforms [27]. Initially, telepresence robots consisted of a mobile base with an interactive screen. Today, following a trend of anthropomorphization of technology, humanlike upper bodies have begun to replace those simple screens (e.g., Pepper [2] and R1 [3]) and share the same social communication modalities of humans, e.g., body posture, gestures, gaze direction, and facial expressions. Un fortunately, social robots are mostly designed to speak and make gestures and have limited capabilities when it comes to physically interacting with people and their surround ing environments. On the other hand, looking at the state of art, there are promising examples (e.g., WALKMAN [4], Atlas [5], and TORO [6]) of humanoid robots that have been developed to operate in unstructured environments and perform challenging interaction tasks, e.g., walking on rough ter rains, moving heavy objects, and solving complex biman ual manipulation tasks. Specific enabling technologies have improved the effectiveness of these robots and facili tate their interactions with the surrounding world, e.g., active impedance control in TORO and serieselastic actuation in WALKMAN. Indeed, these same technolo gies permit robot arms to cross the borders of industrial work cells and become the type of collaborative robots that can work in close contact with people and share the same operating space. Although both humanoid robotics and teleoperation have a long history, we believe that three concurrent factors ALTER-EGO

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Section: Experiments and Discussionmentioning

confidence: 99%

“…Such kinematics are the result of a trad eoff between weight, complexity, arm length, and the actuators' maxi mum payload. Note that different, more anthro pomorphic shoulder configurations that include increased payload capabilities are currently under investigation (refer to [15] for more details).…”

Section: Manipulationmentioning

confidence: 99%

Alter-Ego: A Mobile Robot With a Functionally Anthropomorphic Upper Body Designed for Physical Interaction

Lentini

Settimi

Caporale

et al. 2019

IEEE Robot. Automat. Mag.

Self Cite

View full text Add to dashboard Cite

show abstract

“…Decreasing the inertia just marginally requires a significant investment in mechanical development [22]. Due to these mechanical intricacies, the yawing in the hip is still usually performed with a separate rotary actuator [23], with its backlash marginally impacting the positioning of the whole leg. The hip ab/adduction as well as flexion and extension can be performed with two actuators, where the sum of their movements amounts to pitching, while differential movement results in rolling the hip [24].…”

Section: Mechanical Structurementioning

confidence: 99%

Bipedal Humanoid Hardware Design: a Technology Review

Ficht

Behnke

2021

Curr Robot Rep

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Purpose of Review As new technological advancements are made, humanoid robots that utilise them are being designed and manufactured. For optimal design choices, a broad overview with insight on the advantages and disadvantages of available technologies is necessary. This article intends to provide an analysis on the established approaches and contrast them with emerging ones. Recent Findings A clear shift in the recent design features of humanoid robots is developing, which is supported by literature. As humanoid robots are meant to leave laboratories and traverse the world, compliance and more efficient locomotion are necessary. The limitations of highly rigid actuation are being tackled by different research groups in unique ways. Some focus on modifying the kinematic structure, while others change the actuation scheme. With new manufacturing capabilities, previously impossible designs are becoming feasible. Summary A comprehensive review on the technologies crucial for bipedal humanoid robots was performed. Different mechanical concepts have been discussed, along with the advancements in actuation, sensing, and manufacturing. The paper is supplemented with a list of the recently developed platforms along with a selection of their specifications.

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“…A 3-DOF hybrid active spherical joint is used to replicate the anthropomorphic features of the human shoulder to overcome the structural drawbacks in serial and parallel structures (Mghames et al 2019). A 3PUU parallel manipulator is designed and analyzed for bone drilling application, where the kinematic study is carried out to obtain the maximum and minimum tilt of the platform, and dynamics study is performed using Lagrangian method for joint forces, velocity, displacement, and acceleration of the device (Fernandes and Arockia Selvakumar 2018).…”

Section: Anatomical and Biomechanical Considerations And Devicesmentioning

confidence: 99%

Design, Implementation, and Experimental Study on 3-RPS Parallel Manipulator-Based Cervical Collar Therapy Device for Elderly Patients Suffering from Cervical Spine Injuries

Lingampally

Doss

2021

Handbook of Smart Materials, Technologies, and Devices

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This article demonstrates an innovative cervical collar device to facilitate patients suffering from chronic pain in the neck. The novelty of the collar from existing collars is this device enables the elderly people to create movement for the head while the collar is braced to the neck when the user is sitting, standing, and walking. As part of the treatment, experts suggest that the patient wear a cervical collar to arrest the motion of the neck, which causes discomfort. The developed device employs the conventional cervical collar as a frame around the neck, and in addition to this, parallel structured servo-based electric manipulators were arranged around the neck frame to support the neck motion. Experimental studies were carried out by testing the device under no-load condition and load condition. The experimental data demonstrate that (1) the collar can perform flexion, extension, and lateral bending for different test subjects and (2) an analytical approach is implemented to obtain the error while performing the motions. Based

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A Spherical Active Joint for Humanoids and Humans

Cited by 13 publications

References 21 publications

Alter-Ego: A Mobile Robot With a Functionally Anthropomorphic Upper Body Designed for Physical Interaction

Alter-Ego: A Mobile Robot With a Functionally Anthropomorphic Upper Body Designed for Physical Interaction

Bipedal Humanoid Hardware Design: a Technology Review

Design, Implementation, and Experimental Study on 3-RPS Parallel Manipulator-Based Cervical Collar Therapy Device for Elderly Patients Suffering from Cervical Spine Injuries

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