Design Of Robotic System Research Articles

Radical prostatectomy using the Hinotori robot-assisted surgical system: Docking-free design may contribute to reduction in postoperative pain.

The docking-free design of the Japanese Hinotori surgical robotic system allows the robotic arm to avoid trocar grasping, thereby minimising excessive abdominal wall stress. The aim of this study was to evaluate the safety and efficacy of robotic-assisted radical prostatectomy (RARP) using the Hinotori system and to explore the potential contribution of its docking-free design to postoperative pain reduction. This study reviewed the clinical records of 94 patients who underwent RARP: 48 patients in the Hinotori group and 46 in the da Vinci Xi group. Hinotori group had significantly longer operative and console times (p=0.030 and p=0.029, respectively). Perioperative complications and oncologic outcomes did not differ between the two groups. On postoperative day 4, the rate of decline from the maximum visual analogue scale score was marginally significant in the Hinotori group (p=0.062). The docking-free design may contribute to reducing postoperative pain.

Developing a virtual reality and AI-based framework for advanced digital manufacturing and nearshoring opportunities in Mexico.

The growing expansion of the manufacturing sector, particularly in Mexico, has revealed a spectrum of nearshoring opportunities yet is paralleled by a discernible void in educational tools for various stakeholders, such as engineers, students, and decision-makers. This paper introduces a state-of-the-art framework, incorporating virtual reality (VR) and artificial intelligence (AI) to metamorphose the pedagogy of advanced manufacturing systems. Through a case study focused on the design, production, and evaluation of a robotic platform, the framework endeavors to offer an exhaustive educational experience via an interactive VR environment, encapsulating (1) Robotic platform system design and modeling, enabling users to immerse themselves in the design and simulation of robotic platforms under varied conditions; (2) Virtual manufacturing company, presenting a detailed virtual manufacturing setup to enhance users' comprehension of manufacturing processes and systems, and problem-solving in realistic settings; and (3) Product evaluation, wherein users employ VR to meticulously assess the robotic platform, ensuring optimal functionality and customer satisfaction. This innovative framework melds theoretical acumen with practical application in advanced manufacturing, preparing entities to navigate Mexico's manufacturing sector's vibrant and competitive nearshoring landscape. It creates an immersive environment for understanding modern manufacturing challenges, fostering Mexico's manufacturing sector growth, and maximizing nearshoring opportunities for stakeholders.

TeleAware Robot: Designing Awareness-augmented Telepresence Robot for Remote Collaborative Locomotion

Telepresence robots can be used to support users to navigate an environment remotely and share the visiting experience with their social partners. Although such systems allow users to see and hear the remote environment and communicate with their partners via live video feed, this does not provide enough awareness of the environment and their remote partner's activities. In this paper, we introduce an awareness framework for collaborative locomotion in scenarios of onsite and remote users visiting a place together. From an observational study of small groups of people visiting exhibitions, we derived four design goals for enhancing the environmental and social awareness between social partners, and developed a set of awareness-enhancing techniques to add to a standard telepresence robot - named TeleAware robot. Through a controlled experiment simulating a guided exhibition visiting task, TeleAware robot showed the ability to lower the workload, facilitate closer social proximity, and improve mutual awareness and social presence compared with the standard one. We discuss the impact of mobility and roles of local and remote users, and provide insights for the future design of awareness-enhancing telepresence robot systems that facilitate collaborative locomotion.

Structural Optimization of an Unmanned Ground Vehicle as Part of a Robotic Grazing System Design

Unmanned ground vehicles (UGVs) have gained increased attention in different fields of application; therefore, their optimization requires special attention. Lowering the mass of a UGV is especially important to increase its autonomy, agility, and payload capacity and to reduce dynamic forces. This contribution deals with optimizing a UGV unit prototype that, when connected with similar units, forms a moving electric fence for animal grazing. Together, these units form a robotic system that is intended to solve the critical problem of lack of human capacity in herding and grazing. This approach employs topology optimization (TO) and finite element analysis (FEA) to lower the mass of a UGV unit and validate the design of its structural components. To our knowledge, no optimization of this type of UGV has been reported in the literature. Here, we present the results of a case study in which a set of four load cases served as a basis for the optimization of the UGV frame. Response surface analysis (RSA) was used to identify the worst load cases, while substructuring was used to allow for more detailed meshing of the frame portion that was subjected to TO. Thereby, we demonstrate that the prototype of the UGV unit can be built using standard parts and that TO and FEA can be efficiently used to optimize the load-carrying structure of such a specific vehicle.

Revolutionising engineering pedagogy: The role of 3D printing in modern engineering education

ABSTRACT This paper presents a comprehensive study on the integration of 3D printing technology in biomedical robotics education with undergraduate students learning about the design of robotic systems. The research investigated the effectiveness of this new teaching strategy in enhancing students’ understanding of complex engineering principles by comparing their learning experiences, and academic performance with results from traditional teaching methods. The students’ learning and performance were evaluated through a survey and grade analysis. The Mann – Whitney U test was used to analyse the data, revealing statistically significant improvements in both student satisfaction and grades. The Mann-Whitney U test results show a clear preference for the 2017 3D printing and project-based learning strategy over the 2016 traditional method. With a U-value of 0 and a critical U-value at p < 0.05 being 23, coupled with a z-score of −3.742, the data significantly indicates enhanced student outcomes with the newer teaching approach compared to conventional methods. The study also found that 3D printing technology fostered creativity, critical thinking, and enhanced spatial visualisation skills among students. However, we also identify potential challenges, including equipment maintenance, safety concerns, and the need for faculty expertise. The study concludes by providing potential strategies to overcome these challenges. This research offers valuable insights for educators and policy-makers in leveraging technology for improved learning outcomes in engineering education.

Mechanical design of an upper limb robotic rehabilitation system

Physical diseases have become an alarming social problem worldwide. Several conditions related to limb mobility are more frequent due to a high level of demand in the repetitive execution of activities. Assistive technologies have been proposed to improve the experience of physical rehabilitation. This paper presents a framework with the mechanical design criteria for an upper limb assistive robotic system. We define the design specifications and construction characteristics of an assistive system. As a result, a 7-degree-of-freedom system for upper limb physical rehabilitation is designed with a novel characteristic of arm-switching configuration for the treatment of both arms.

Cost-effective Robotic Arm Simulation and System Verification

In recent years, the utilization of virtual environments in industry 4.0 has witnessed significant growth, particularly in the design, implementation, and management of robotic systems. This paper addresses the need for enhanced control in robotic arms by presenting the design and implementation of a 5DoF robotic arm transformed into a digital platform through specialized software. The methods employed involve detailed direct and inverse kinematic modeling to replicate the physical arm in a digital environment. Our measurements indicate an impressive accuracy ranging from 97% to 100% in the movements of the digital model, closely mirroring its physical counterpart. This research not only contributes to the development of simulation systems but also holds promise for the broader adoption of digital twins. The paper discusses the background, outlines the methodology, highlights key findings, and concludes with the potential future impact of this work on the advancement of robotic systems and simulation technologies.

Anti-disturbance control design of Exoskeleton Knee robotic system for rehabilitative care

In this study, Active Disturbance Rejection Control (ADRC) has been designed for motion control of knee-joint based on exoskeleton medical robot. The extended state observer (ESO) is the main part of ADRC structure, which is responsible for estimating both actual states and system uncertainties. The proposed control scheme has adopted two versions of observers as disturbance estimators: linear extended state observer (LESO) and nonlinear extended state observer (NESO). The efficacy of proposed ADRC is strongly related to the performance of used ESO. As such, a comparison study has been conducted to evaluate the performance of two ADRCs in terms of disturbance-rejection capability and robustness to variation in system parameters under two version of ESO (LSO and NLESO). In order to enhance the dynamic performance of ADRC, Particle Swarm Optimization (PSO) algorithm has been used to optimally tune the design parameters of control scheme. To show the effectiveness of proposed LESO-based ADRC and NLESO-based ADRC, numerical simulation have been conducted. The proposed controllers have tested for an uncertain exoskeleton-knee system, where a 20% change in parameters was permitted over their nominal values. The results indicate that the ADRC algorithm based on LESO outperforms the one based on NESO in terms of disturbances rejection ability and robustness to parameters’ variations.

Design of control system for six-degree-of-freedom robotic arm

To study the robotic arm trajectory planning and motion, the six-degree-of-freedom robotic arm control system design is proposed. In this paper, we choose a multi-joint type of robotic arm. We analyze the design of the robotic arm at home and abroad and determine the specific servomotor model and the specific robotic arm mechanism. We analyze the torque relationship of each joint and the size of the servomotor. Using SolidWorks and Robot Studios, we carry out the three-dimensional design modeling and simulation of the robotic arm, design the whole set of robotic arms, and use the Arduino Uno development board for precise control of the servo motor. The control program was written using C language, and various control tests were carried out on the robotic arm to make sure that the system could satisfy the debugging and research of trajectory planning type.

Design of Community Inspection Robot System

With the continuous development of the global economy, urban centers have experienced a consistent increase in size. Consequently, the number of schools, parks and residential communities within cities are also on the rise. The increasing quantity of various types of communities has juxtaposed a notable dilemma: a shortage of security and maintenance personnel. In order to address this issue, employing robotic automated inspection within these communities, coupled with autonomous navigation, obstacle avoidance, and AI recognition technology, is proposed. This project aims to alleviate the burden on human staff, improve recognition accuracy, and enhance the overall efficiency of operation and maintenance. This paper analyzes the operational needs of these communities, presents a design concept for a community inspection robot system, and discusses issues that require further research in the future.

Investigations of bioinspired soil penetration strategies via a numerical model: Does radial expansion improve soil intruder performances?

This paper investigates the performances shown during underground exploration by a plant root-inspired soil intruder. Plant roots are efficient soil explorers, moving by growing at their apical extremities and morphing their bodies in response to mechanical constraints. A three-dimensional (3D) discrete element model (DEM) was developed to mimic selected features of plant roots and verify their usefulness in soil penetration operations. Specifically, the model is used to simulate the penetration of an intruder that grows at the tip into both cohesionless granular and cemented soils. In the former case, dense and loose granular media are considered. The model is adopted to compare penetration performances with purely axial growth and a combination of radial and axial growths. Radial growth is hypothesized to be adopted in roots to facilitate soil penetration. Results from our model suggest that implementing a radial growth preliminary to an axial growth is more advantageous in cohesionless dense granular soil, reducing the soil resistance experienced by the intruder for deeper penetration after radial enlargement. When the penetration occurs in cemented soil, the radial expansion results advantageous over a lower penetration depth, and its beneficial effect drops with increasing inter-particle contact adhesion values. The proposed 3D DEM numerical model provides a methodology for evaluating the intruder penetration efficiency and supports the design of artificial robotic systems for the autonomous exploration of soil by allowing the selection of the most performant penetration strategies for their artificial implementation.

Design and analysis of an autonomous warehouse robot system with 6-DOF manipulator

With the increasing need for efficiency and accuracy in warehouse operations, the functions and market demands of automated warehouse robots are constantly increasing. This study presents the design, simulation, and implementation of a warehouse robot, showcasing effective automation solution. Leveraging the Robot Operating System (ROS) and Gazebo, a robot with a six-degree-of-freedom robotic arm for diverse manipulation tasks and a differential drive base for broad-spectrum navigation was designed. The simulation environment in Gazebo faithfully replicates real-world warehouse conditions, enabling comprehensive path planning and real-time modifications, powered by move_base. A camera sensor serves as the robot's safety system, designed to detect moving obstacles and initiate appropriate responses, contributing to the enhancement of warehouse safety standards. Simulation results demonstrate the robot's effectiveness in performing pick-and-place tasks while successfully navigating through the environment, indicating the significant potential for real-world warehouse automation applications. Therefore, this work provides a foundation reference for future research aimed at optimizing and expanding the capabilities of autonomous warehouse robots.

Design and development of robotic system for precise vascular access and autonomous venipuncture

AbstractThe medical robot systems have the effect of reducing the work load and preventing accidents by supporting task that are difficult for inexperienced medical practitioners. Recently, research on automated blood collection and injection robotic system has been increasing, but work is still necessary such as replacing needle tips, setting tourniquet, and fixing the patient's arm. This letter proposes an intelligent intravenous injection robot without having to see the medical workers face‐to‐face. A revolving system is designed for automatic needle replacement and an arm holder for vessel fixation. Finally, positioning the needle at the target point is experimented by position control based on mathematical modelling and velocity kinematics.

Advancements in Precision Trajectory Generation: A Synergistic Approach to Design and Implementation for the 5-DOF Alpha-II Robot's Digital and Physical Twins

This research paper explores the comprehensive design and verification process of a 5-DOF articulated robotic arm, named the Alpha-II. Leveraging SolidWorks and CoppeliaSim, the digital twin is meticulously developed, with kinematics and working envelope computations verified on CoppeliaSim and MATLAB. The transition to CoppeliaSim for testing involvesthe implementation of diverse control strategies, such as position control, velocity control, and torque control, to rigorously evaluate the manipulator's movements. Highlighting the synergy between SolidWorks and CoppeliaSim, this literature emphasizes the versatility of SolidWorks in digital twin design and the effectiveness of CoppeliaSim's virtual environment. The research culminatesin the creation of a physical twin, aligning with the meticulously crafted digital counterpart. This study not only advances the understanding of trajectory generation for 5-DOF robotic arms but also underscores the pivotal role of cohesive digital and physical twin methodologies in cutting-edge robotics research. The rigorous verification, testing, and synthesis process contribute to the development of a refined and thoroughly validated end product, showcasing the significance of integrating simulation toolsin the design and analysis of robotic systems.

Exploring the costs of phenotypic plasticity for evolvable digital organisms

Phenotypic plasticity is usually defined as a property of individual genotypes to produce different phenotypes when exposed to different environmental conditions. While the benefits of plasticity for adaptation are well established, the costs associated with plasticity remain somewhat obscure. Understanding both why and how these costs arise could help us explain and predict the behavior of living creatures as well as allow the design of more adaptable robotic systems. One of the challenges of conducting such investigations concerns the difficulty of isolating the effects of different types of costs and the lack of control over environmental conditions. The present study addresses these challenges by using virtual worlds (software) to investigate the environmentally regulated phenotypic plasticity of digital organisms. The experimental setup guarantees that potential genetic costs of plasticity are isolated from other plasticity-related costs. Multiple populations of organisms endowed with and without phenotypic plasticity in either the body or the brain are evolved in simulation, and organisms must cope with different environmental conditions. The traits and fitness of the emergent organisms are compared, demonstrating cases in which plasticity is beneficial and cases in which it is neutral. The hypothesis put forward here is that the potential benefits of plasticity might be undermined by the genetic costs related to plasticity itself. The results suggest that this hypothesis is true, while further research is needed to guarantee that the observed effects unequivocally derive from genetic costs and not from some other (unforeseen) mechanism related to plasticity.

Design and Development of a New Biped Robotic System for Exoskeleton-Structure Window Cleaning

Design and Development of a New Biped Robotic System for Exoskeleton-Structure Window Cleaning

Design and development of robotic collaborative system for automated construction of reciprocal frame structures

AbstractRobotic technologies have shown their potential to improve efficiency, precision, and safety for construction tasks. In this paper, the concept of design for robotic construction (DfRC) is introduced, and robotic collaborative systems are developed for the construction of load‐carrying structures. An automated structural assembly was achieved and demonstrated through robotics with a preference for reciprocal frame (RF) structures. Key innovations include the use of magnetic temporary connections to minimize offsets of mobile robots and linear actuators as temporary supports during construction. Furthermore, specific procedures are formulated to navigate the robots and to target and install the components using a fiducial marker system and simultaneous localization and mapping packages, with consideration of structural deformation during construction due to self‐weight. The successful assembly of a 4.5‐m span RF structure demonstrates the potential of DfRC and the proposed robotic collaborative system in the automated construction of load‐carrying structures.

Design and evaluation of a wearable vascular interventional surgical robot system.

Remote-controlled robotic vascular interventional surgery can reduce radiation exposure to interventional physicians and improve safety. However, inconvenient operation and lack of force feedback limit its application. A new wearable robotic system for vascular interventional surgery is designed, which is more flexible in operation. It ensures the safety of surgery through haptic force feedback. The system was evaluated by human vascular models and animal experiments. The average static error of the system is 0.048mm when the axial motion is 250mm and 1.259° when the rotational motion is 400°. The average error of the force feedback is 0.021N. The results of vascular model experiments and animal experiments demonstrate the feasibility and safety of the system. The proposed robotic system can assist physicians in remotely delivering standard catheters or guidewires. The system is more flexible and uses haptic force feedback to ensure surgical safety.

High-Performance Hydrogel Sensors Enabled Multimodal and Accurate Human-Machine Interaction System for Active Rehabilitation.

Human-machine interaction (HMI) technology shows an important application prospect in rehabilitation medicine, but it is greatly limited by the unsatisfactory recognition accuracy and wearing comfort. Here, this work develops a fully flexible, conformable, and functionalized multimodal HMI interface consisting of hydrogel-based sensors and a self-designed flexible printed circuit board. Thanks to the component regulation and structural design of the hydrogel, both electromyogram (EMG) and forcemyography (FMG) signals can be collected accurately and stably, so that they are later decoded with the assistance of artificial intelligence (AI). Compared with traditional multichannel EMG signals, the multimodal human-machine interaction method based on the combination of EMG and FMG signals significantly improves the efficiency of human-machine interaction by increasing the information entropy of the interaction signals. The decoding accuracy of the interaction signals from only two channels for different gestures reaches 91.28%. The resulting AI-powered active rehabilitation system can control a pneumatic robotic glove to assist stroke patients in completing movements according to the recognized human motion intention. Moreover, this HMI interface is further generalized and applied to other remote sensing platforms, such as manipulators, intelligent cars, and drones, paving the way for the design of future intelligent robot systems.

Design and analysis of a compatible exoskeleton rehabilitation robot system based on upper limb movement mechanism.

Rehabilitation robots are used to promote structural and functional recovery of the nervous system with repetitive, task-oriented training and have been gradually applied to clinical rehabilitation training. This paper proposes an upper limb exoskeleton rehabilitation robot system that could realize shoulder-elbow-wrist joint rehabilitation training. Firstly, a motion equivalent model was established based on the upper limb movement mechanism, the robot mechanism configuration was designed, and the optimization algorithm and spatial mechanism theory were used to optimize and analyze the structural parameters and human-machine compatibility of the robot, which will guide the design of the robot's model. Then, the robot kinematics were solved, and its maximum motion range, dexterity distribution, and daily motion trajectory were simulated. Finally, a system prototype was built to test the maximum range of robot-assisted human upper limb training by laser tracker, while the pressure of human-machine interaction during training was captured and analyzed by flexible sensors. The results show that the proposed rehabilitation robot could nearly completely cover the range of motion of upper limb joints and meet the needs of trajectory training, and the linear velocity dexterity and angular velocity dexterity in the motion space are maximum 0.55 and 0.89, and the human-machine interaction pressures during the training process are all less than 10kPa. Besides, this paper also conducted a system evaluation based on the fuzzy comprehensive evaluation model, and the evaluation result was 0.39, with an excellent evaluation grade, it indirectly indicates that the robot's overall performance was good.