Joint Torque Sensory in Robotics

Aghili, Farhad

doi:10.5772/4890

Cited by 6 publications

(2 citation statements)

References 40 publications

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“…In the experiments, we used the KUKA LWR robot, for which we did not know the dynamic model. However, the KUKA KRC robot controller [13] provides information about the external joint torques, which are measured using integrated torque sensors in the robot joints [14, 6], and these torques have then been used to estimate the external forces.…”

Section: External Joint Torquesmentioning

confidence: 99%

External Joint Torque-Based Estimation of Contact Information

Likar

Žlajpah

2014

International Journal of Advanced Robotic Systems

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In the paper, a method for the estimation of the contact force and contact location is proposed. Contact can occur at any point on the body of the robot manipulator. The contact force estimation algorithm is based on the measurement of the part of the joint torques caused by the external force. As this is a complex nonlinear problem, the proposed method is based on nonlinear constrained optimization. Using certain assumptions, the complexity of the problem is reduced. In this paper, only robots with cylindrically-shaped links are considered. The simulation and experimental results show that the proposed approach allows the estimation of the contact forces by using only the joint torque sensors, without any additional external sensory systems for the detection of contacts along the robot body-structure.

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Section: External Joint Torquesmentioning

confidence: 99%

External Joint Torque-Based Estimation of Contact Information

Likar

Žlajpah

2014

International Journal of Advanced Robotic Systems

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“…Excessive sexual activity, pregnancy, and the dystemperament of the mother are essential factors in milk spoiling. 12 , 13 , 14…”

Section: Introductionmentioning

confidence: 99%

The effect of topical olive oil application on the symptoms of infantile colic: A randomized, double‐blind, placebo‐controlled clinical trial

Mohammadian-Dameski

Farhat

Aghaee

et al. 2023

Health Science Reports

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Background and Aims: Infantile colic is one of the most common disorders in the first months of infants' lives. This condition hurts parents' moods. This study was carried out to investigate the effect of the topical use of olive oil on infantile colic symptoms. Methods:The study was carried out on 80 infants 1-3 months old, randomly allocated into two groups, receiving abdominal massage with olive oil thrice a day in the intervention group (n = 40) and the same procedure with liquid paraffin in the placebo group (n = 40), for 14 successive days. During this period, the parents recorded the episodes of colic, duration of colic, crying intensity, and episodes of defecation. These variables were assessed and compared at the beginning and on the 7th and 14th days. Results:The mean crying duration changed from 4.05 ± 2.44 to 1.41 ± 1.03 h/day (65% decrease) in the olive oil group and from 3.85 ± 1.37 to 1.60 ± 1.32 h/day (58% decrease) in the paraffin group (p = 0.38). The episodes of crying were reduced from 5.79 ± 4.56 to 2.51 ± 4.93 episodes/day (↓57%) in the olive group and from 6.01 ± 3.40 to 3.01 ± 2.40 episodes/day (↓50%) in the paraffin oil group (p = 0.14).

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Development of a high performance direct-drive joint

Aghili

Buehler

Hollerbach

Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113)

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Joint Torque Sensory in Robotics

Cited by 6 publications

References 40 publications

External Joint Torque-Based Estimation of Contact Information

External Joint Torque-Based Estimation of Contact Information

The effect of topical olive oil application on the symptoms of infantile colic: A randomized, double‐blind, placebo‐controlled clinical trial

Development of a high performance direct-drive joint

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