Article
Engineering, Multidisciplinary
Daniel Cardin-Catalan, Antonio Morales, Immaculada Llop-Harillo, Antonio Perez-Gonzalez, Angel P. del Pobil
Summary: This paper presents a design of grippers for delicate edible products, utilizing a soft and variable-stiffness approach. The gripper prototypes, composed of rigid and soft parts, are evaluated experimentally and compared using standardized benchmarks. A new benchmark for edible grasping is proposed and used to measure the performance of the grippers. The final gripper prototype demonstrates sufficient payload and adaptability in grasping various edibles without causing damage.
ENGINEERING SCIENCE AND TECHNOLOGY-AN INTERNATIONAL JOURNAL-JESTECH
(2023)
Article
Robotics
Wilson Ruotolo, Dane Brouwer, Mark R. Cutkosky
Summary: This study introduces an anthropomorphic end effector that combines adhesive principles with a multiphalange, multifinger design, using an elastic foundation model and grasping theory for kinematic changes. Tests on a prototype named farmHand confirmed shear load sharing and demonstrated adhesive manipulation beyond pick and place tasks.
Article
Engineering, Multidisciplinary
Changchun Wu, Hao Liu, Senyuan Lin, Yunquan Li, Yonghua Chen
Summary: In this paper, a fluidic-based approach for universal gripper is proposed, which has higher compliance compared to conventional granular jamming universal grippers. The fluid is made of micro-particles suspended in liquid, and the jamming transition of the dense granular suspension fluid is achieved by external pressure from the inflation of an airbag. The proposed universal gripper exhibits advantageous compliance and grasping robustness in sample grasping of delicate objects, such as plants and sponge objects, where the traditional granular jamming universal gripper fails.
Article
Automation & Control Systems
Fangxin Chen, Yongzhuo Gao, Wei Dong, Zhijiang Du
Summary: This article presents a piezo-based passive compliant micro-gripper capable of combining position and force control. It utilizes a dual feedforward controller and a PID feedback controller for precision regulation, and experimental validation confirms the feasibility and stability of the system.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2021)
Article
Chemistry, Analytical
Zenghua Fan, Zixiao Liu, Congcong Huang, Wei Zhang, Zhe Lv, Lefeng Wang
Summary: This study investigates capillary bridges and forces between spherical concave grippers and spherical particles. The analysis includes parameters such as contact angle, radius ratio, and liquid bridge volume to discuss the influence on dimensionless capillary force. The effectiveness of the theoretical approach is verified through simulation models and experiments.
Article
Computer Science, Interdisciplinary Applications
Jiaqi Huang, Zhihao Wei, Yiwen Cui, Jikai Liu
Summary: This paper proposes a clamping force-constrained topology optimization method for compliant grippers, which allows safe grasping actions on fragile objects. The flexibility of the compliant grippers is achieved by using the neo-Hookean material model with geometric and material non-linearity. The clamping force is simulated using the node-to-segment method for contact behavior modeling. Two types of clamping force-related constraints are formulated and their sensitivities are derived to restrict the peak force through clamping force redistribution.
STRUCTURAL AND MULTIDISCIPLINARY OPTIMIZATION
(2023)
Article
Chemistry, Physical
Yung Hoon Lee, Joon Hyun Kim, Jaeyong Sung
Summary: The combination of the venturi module and the vortex cup was proposed to enhance grip capacity and stabilize non-contact environments. Analyzing the flow patterns around the venturi chamber and the swirl inside the vortex cup helped in designing an effective coupled model. The integrated features of the venturi and vortex cup modules supported a wide range of non-contact grips, providing efficient vacuum suction in various environments.
Article
Multidisciplinary Sciences
Zhuang Zhang, Yongzhou Long, Genliang Chen, Qichen Wu, Hao Wang, Hanqing Jiang
Summary: Soft and less stretchable fabric-based pneumatic actuators are introduced in this article, which possess tunable workspace and high payload capability. The actuators have programmable, combinable, and predictable motion modes, with rapid response to low input pressure. A robotic gripper utilizing three fabric actuators is also presented, demonstrating a grasping force of over 150 N and a grasping range from 70 to 350 millimeters. These design concepts and guidelines provide foundations for applying less stretchable yet soft materials in soft robots to enhance their practicality.
Article
Computer Science, Cybernetics
Assaf Botzer, Yotam Sahar, Michael Wagner, Tomer Elbaum
Summary: The current experiment aimed to test the feasibility of using grip force as a measure of stress in joystick-controlled tasks, and found that some participants exhibited increased grip force under stress, while not all participants gripped significantly harder during stress manipulation.
BEHAVIOUR & INFORMATION TECHNOLOGY
(2021)
Article
Automation & Control Systems
Longgang Song, Bo Chang, Yuhang Feng, Jialong Jin, Quan Zhou
Summary: In this article, a novel self-alignment capillary gripper for microfiber manipulation is reported. The gripper is facile and convenient to use, and can achieve high precision self-alignment of microfibers. It is versatile and can be used with different types of microfibers, and can also construct two-dimensional patterns and plug fibers into microglass capillaries.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Materials Science, Multidisciplinary
Osman Ulkir, Ishak Ertugrul, Nihat Akkus, Salih Ozer
Summary: The aim of this study is to achieve high displacement values with low actuation voltage using a micro-gripper fabricated by the stereolithography method. The experimental results show that the micro-gripper can achieve a maximum opening displacement of 28.35 μm at an applied voltage of 5V. The experimental results are in good agreement with the simulation results.
JOURNAL OF MATERIALS ENGINEERING AND PERFORMANCE
(2022)
Review
Chemistry, Analytical
Hidetoshi Takahashi
Summary: This article reviews the sensor devices designed for measuring the tiny forces acting on insects during locomotion. Micro-force plates for measuring ground reaction force and micro-force probes for measuring flying force have been developed. Many of these sensors are fabricated through the microelectromechanical system (MEMS) process, due to its precision and sensitivity.
Article
Chemistry, Multidisciplinary
Amelie Cot, Patrick Rougeot, Sophie Lakard, Michael Gauthier, Jerome Dejeu
Summary: This paper introduces a new method for controlling the non-contact positioning of micro-objects using chemical functionalization (3-aminopropyl) triethoxysilane-APTES), and demonstrates that this functionalization is able to concentrate a significant amount of electric charges on surfaces, generating a long-distance electric field (about 10 microns) called a large exclusion zone (EZ). The magnitude and range of the electrostatic force decrease rapidly as the ionic strength of the medium increases. Based on the proposed model, it is shown that this new way of localizing charges on micro-objects may be used for non-contact positioning.
APPLIED SCIENCES-BASEL
(2023)
Article
Engineering, Mechanical
Rajesh Kumar, Harsh Yadav, Varan Gupta, Jitendra P. Khatait
Summary: The paper focuses on the design, development, and evaluation of a gripper intended to hold hollow objects by interacting with the inner surface, ensuring the application of variable normal forces on the surface of the object to be grasped. The mathematical architecture is verified using prototypes and experiments.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
(2022)
Article
Automation & Control Systems
Nagamanikandan Govindan, Bharadhwaj Ramachandran, Pasala Haasith Venkata Sai, K. Madhava Krishna
Summary: This article introduces a novel design of a single actuator driven hybrid gripper that combines mechanically connected rigid links and elastic gripping surface, allowing for versatile grasping and throwing manipulation.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Chemistry, Multidisciplinary
Chul-Soon Lee, Zhengfei Dai, Seong-Yong Jeong, Chang-Hoon Kwak, Bo-Young Kim, Do Hong Kim, Ho Won Jang, Joon-Shik Park, Jong-Heun Lee
CHEMISTRY-A EUROPEAN JOURNAL
(2016)
Article
Chemistry, Analytical
Anh Tuan Hoang, Yeong Beom Cho, Joon-Shik Park, Yoonseok Yang, Yong Shin Kim
SENSORS AND ACTUATORS B-CHEMICAL
(2016)
Article
Chemistry, Analytical
Hyun Woo Nho, Nuri Yanga, Jaewoo Song, Joon Shik Park, Tae Hyun Yoon
SENSORS AND ACTUATORS B-CHEMICAL
(2017)
Article
Chemistry, Analytical
Jun-gu Kang, Joon-Shik Park, Hoo-Jeong Lee
SENSORS AND ACTUATORS B-CHEMICAL
(2017)
Article
Materials Science, Ceramics
Woongjin Jang, In-Ho Kim, Yeong-Sik Jeong, Kwang-Bum Park, Soon-Sup Park, Moon-Young Yoon, Yonghan Roh, Joon-Shik Park
JOURNAL OF ELECTROCERAMICS
(2013)
Article
Materials Science, Multidisciplinary
Dongha Im, Donghyun Kim, Dasol Jeong, Woon Ik Park, Myoungpyo Chun, Joon-Shik Park, Hyunjung Kim, Hyunsung Jung
JOURNAL OF MATERIALS SCIENCE & TECHNOLOGY
(2020)
Article
Materials Science, Ceramics
Srijita Nundy, Tae-yil Eom, Jun-gu Kang, Jaehyun Suh, Minwoo Cho, Joon-Shik Park, Hoo-Jeong Lee
CERAMICS INTERNATIONAL
(2020)
Article
Materials Science, Ceramics
Srijita Nundy, Tae-yil Eom, Kyung-Yoon Song, Joon-Shik Park, Hoo-Jeong Lee
CERAMICS INTERNATIONAL
(2020)
Article
Crystallography
Yaping Yan, Tae-yil Eom, Shiyu Xu, Pil J. Yoo, Changzeng Yan, Joon-Shik Park, Hoo-Jeong Lee
Article
Chemistry, Analytical
Minwoo Cho, Tae-yil Eom, Srijita Nundy, Joon-Shik Park, Hoo-Jeong Lee
Summary: Based on hafnium-added indium zinc oxide (Hf-IZO), a nitrogen dioxide (NO2) gas sensor was produced and showed high response and selectivity to NO2 gas, as well as long-term stability. The sensing performance of the 15 at% Hf-IZO sensor is linked to the concentration of oxygen vacancies generated by the hafnium doping.
SENSORS AND ACTUATORS B-CHEMICAL
(2021)
Article
Engineering, Chemical
Srijita Nundy, Sankar Ganesh Ramaraj, Manoharan Muruganathan, Aritra Ghosh, Asif Ali Tahir, Tapas Kumar Mallick, Joon-Shik Park, Hoo-Jeong Lee
Summary: This study developed hafnium (Hf)-doped ZnO nanostructures for high selectivity in detecting hazardous NOX gas. The ZnO microspheres with 5% Hf doping showed excellent sensing performance, detecting 22 ppb NOX gas in the atmosphere within 24 seconds, which is faster than pure ZnO. The sensor exhibited superior sensing ability and stability, making it a potential new stable sensing material.
INDUSTRIAL & ENGINEERING CHEMISTRY RESEARCH
(2022)
Article
Chemistry, Analytical
Tae-Yil Eom, Minwoo Cho, Kyeong-Youn Song, Joon-Shik Park, Hoo-Jeong Lee
Summary: The detection of acetone gas using a gas sensor provides a non-invasive means for monitoring diabetes patients. In this study, novel heterostructured materials consisting of metal fluoride hydroxides were developed and showed significant enhancement in gas response. The optimized gas sensor demonstrated a high response with good selectivity and stability towards acetone gas.
SENSORS AND ACTUATORS B-CHEMICAL
(2022)
Article
Nanoscience & Nanotechnology
Minwoo Cho, Shin Joon Kang, Haewon Cho, Hyung Mo Jeong, Sunkook Kim, Joon-Shik Park, Hoo-Jeong Lee
Summary: This study proposes the possibility of using metal iodates as gas-sensing materials synthesized through a simple chemical precipitation method. Material analysis and evaluation of gas-sensing performance reveal that cobalt, nickel, and copper iodates show high gas response towards different gases. Further investigation highlights the potential of iodates as novel gas-sensing materials, due to their inherent characteristics such as high oxygen-reduction ability of iodine.
ACS APPLIED MATERIALS & INTERFACES
(2023)
Article
Materials Science, Ceramics
Young-Moo Jo, Chul-Soon Lee, Rui Wang, Joon-Shik Park, Jong-Heun Lee
JOURNAL OF THE KOREAN CERAMIC SOCIETY
(2017)
Article
Engineering, Electrical & Electronic
Hyun Woo Nho, Joon Shik Park, Tae Hyun Yoon
JOURNAL OF MICROMECHANICS AND MICROENGINEERING
(2017)
Article
Computer Science, Interdisciplinary Applications
Shenglin Wang, Jingqiong Zhang, Peng Wang, James Law, Radu Calinescu, Lyudmila Mihaylova
Summary: In Industry 5.0, Digital Twins provide flexibility and efficiency for smart manufacturing. Deep learning techniques are used to enhance the Digital Twin framework, enabling the detection and classification of human operators and robots during the manufacturing process. The framework shows promising results in accurately detecting and classifying actions of human operators and robots in various scenarios.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Yi Liu, Junpeng Qiu, Jincheng Wang, Junhe Lian, Zeran Hou, Junying Min
Summary: In this study, a double-sided robotic roller forming process was developed to form ultrahigh strength steels to thin-walled profiles. Synchronized laser heating and iterative path compensation method were used to reduce forming forces and achieve high-precision forming.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Zequn Zhang, Yuchen Ji, Dunbing Tang, Jie Chen, Changchun Liu
Summary: This paper proposes a digital twin system for human-robot collaboration (HRC) that overcomes the limitations of current methods and improves the overall performance. The system includes a human mesh recovery algorithm and uncertainty estimation to enhance the system's capabilities. Experimental results demonstrate the superiority of the proposed methods over baseline methods. The feasibility and effectiveness of the HRC system are validated through a case study involving component assembly.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Junmin Park, Taehoon Kim, Chengyan Gu, Yun Kang, Joono Cheong
Summary: This paper proposes a highly reliable and accurate collision estimator for robot manipulators in human-robot collaborative environments using the Bayesian approach. By assuming robot collisions as dynamic Markov processes, the estimator can integrate prior beliefs and measurements to produce current beliefs in a recursive form. The method achieves compelling performance in collision estimation with high accuracy and no false alarms.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Meng Wang, Kaixuan Chen, Panfeng Wang, Yimin Song, Tao Sun
Summary: In this study, a novel teleoperation machining mode and control strategy were proposed to improve efficiency and accuracy in small batch production of large casting parts. By using variable motion mapping and elastic compensation, constant cutting force was achieved, and the workpiece was protected by employing forbidden virtual fixtures and movement constraints on the slave robot.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Zhaoyu Li, Dong He, Xiangyu Li, Xiaoke Deng, Pengcheng Hu, Jiancheng Hao, Yue Hou, Hongyu Yu, Kai Tang
Summary: This paper presents a novel algorithm for planning a five-axis inspection path for arbitrary freeform surfaces. By converting the inspection path planning problem into a set-covering problem, the algorithm generates a near-minimum set of inspection paths that satisfy necessary constraints. Both computer simulation and physical inspection experiments confirm the effectiveness and advantages of the proposed method.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Hang Zhang, Wenhu Wang, Shusheng Zhang, Yajun Zhang, Jingtao Zhou, Zhen Wang, Bo Huang, Rui Huang
Summary: This paper introduces a novel framework based on deep reinforcement learning for generating machining process routes for designated parts. The framework utilizes graph representations of parts and employs convolutional graph neural networks for effective processing. Experimental results demonstrate the ability of the proposed method to generate efficient machining process routes and overcome limitations of traditional methods.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Regina Kyung-Jin Lee, Hao Zheng, Yuqian Lu
Summary: Future manufacturing will witness a shift towards collaboration and compassion in human-robot relationships. To enable seamless knowledge transfer, a unified knowledge representation system that can be shared by humans and robots is essential. The Human-Robot Shared Assembly Taxonomy (HR-SAT) proposed in this study allows comprehensive assembly tasks to be represented as a knowledge graph that is understandable by both humans and robots. HR-SAT incorporates rich assembly information and has diverse applications in process planning, quality checking, and human-robot collaboration.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Jianhui He, Lefeng Gu, Guilin Yang, Yiyang Feng, Silu Chen, Zaojun Fang
Summary: This paper presents a new modular kinematic error model for collaborative robots and proposes a portable self-calibration device to improve their positioning accuracy.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Hongwei Sun, Jixiang Yang, Han Ding
Summary: This paper proposes an asymmetrical FIR filter-based tool path smoothing algorithm to fully utilize the joint drive capability of robot manipulators. The algorithm considers the pose-dependent dynamics and constraints of the robot and improves motion efficiency by over 10% compared to traditional methods.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Dongsheng Ge, Huan Zhao, Yiwei Wang, Dianxi Li, Xiangfei Li, Han Ding
Summary: This paper focuses on learning a stable force control policy from human demonstration during contact transients. Based on the analysis of human demonstration data, a novel human-inspired force control strategy called compliant dynamical system (CDS) is proposed. The effectiveness of the proposed method is validated through simulation and real-world experiments.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Xuepeng Huang, Zhenzhong Wang, Lucheng Li, Qi Luo
Summary: This study models the stiffness of a robot and modifies the tool influence function (TIF) with the Preston equation in order to achieve uniform surface quality in robotic bonnet polishing (RBP) of optical components. Experimental results validate the accuracy of the modified model.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Mario D. Fiore, Felix Allmendinger, Ciro Natale
Summary: This paper presents a constraint-based programming framework for task specification and motion optimization. The framework can handle constraints on robot joint and Cartesian coordinates, as well as time dependency. It also compares with existing methods and provides numerical support through illustrative examples and case studies.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Yongxue Chen, Yaoan Lu, Ye Ding
Summary: This paper presents an optimization method for directly generating a six-degree-of-freedom toolpath for robotic flank milling. By optimizing the smoothness of the toolpath and the stiffness of the robot, the efficiency, accuracy, and finish of the machining are improved.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Chungang Zhuang, Haoyu Wang, Han Ding
Summary: This article proposes an end-to-end pipeline for synchronously regressing potential object poses from an unsegmented point cloud. It extracts point pair features and uses a voting architecture for instance feature extraction, along with a 3D heatmap for clustering votes and generating center seeds. An attention voting module is also employed to adaptively fuse point-wise features into instance-wise features. The network demonstrates robustness and improved performance in pose estimation.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
