To see the other types of publications on this topic, follow the link: Robot wrist.
Dissertations / Theses on the topic 'Robot wrist'
Create a spot-on reference in APA, MLA, Chicago, Harvard, and other styles
Consult the top 19 dissertations / theses for your research on the topic 'Robot wrist.'
Next to every source in the list of references, there is an 'Add to bibliography' button. Press on it, and we will generate automatically the bibliographic reference to the chosen work in the citation style you need: APA, MLA, Harvard, Chicago, Vancouver, etc.
You can also download the full text of the academic publication as pdf and read online its abstract whenever available in the metadata.
Browse dissertations / theses on a wide variety of disciplines and organise your bibliography correctly.
1
Williams, Dustin (Dustin James) 1976. "A robot for wrist rehabilitation." Thesis, Massachusetts Institute of Technology, 2001. http://hdl.handle.net/1721.1/8551.
Full textAbstract:
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2001.Includes bibliographical references (p. 205-206).
In 1991, a novel robot named Manus I was introduced as a testbed to study the potential of using robots to assist in and quantify the neuro-rehabilitation of motor skills. Using impedance control methods to drive a 2 d.o.f. planar robot, Manus I proved an excellent fit for the rehabilitation of the upper arm and shoulder. This was especially true in the case of rehabilitation after stroke. Several clinical trials showed that therapy with Manus reduced recovery time and improved long term recovery after stroke. This successful testbed naturally led to the desire for additional hardware for the rehabilitation of other degrees of freedom. This thesis outlines the mechanical design of one of four new rehabilitation robots. Its focus is the mechanical design of a robot for wrist rehabilitation. The anthropometric background data, the design's functional requirements, the strategic design selection and the detailed design are presented.
by Dustin Williams.
S.M.
2
Kotzev, Shmuel. "Hierarchical task decomposition and execution for robot manipulation task using a wrist force sensor." Thesis, University of British Columbia, 1990. http://hdl.handle.net/2429/29627.
Full textAbstract:
The research developed force-motion strategies and subsequent force and position control algorithms, using a PUMA 560 robot arm and its original controller. A task decomposition
methodology has been developed that enables a mechanical assembly task to be subdivided into a series of executable subtasks. By applying this methodology to the assembly of a hydraulic gear pump, a library of special purpose, task oriented, subtask programs were created. Most of these programs, though derived for a pump assembly task, are applicable (when used with appropriate parameters) to other assembly tasks.
Most of the algorithms require force/torque sensory information that is supplied by a JR³ wrist force sensor. The force control algorithms use that data and system compliance in order to produce new position instructions that are transferred to the controller of the arm. The logic of the control law and system behaviour when contacting the environment, were checked, using the dynamics and compliance of a simplified structure of a robotic arm and its wrist sensor.
A demonstration of the pump assembly task, using the arm, force sensor, controller and the derived library algorithms is an integral part of the thesis.Applied Science, Faculty of
Mechanical Engineering, Department of
Graduate
3
Kwan, Chi Kong. "An investigation of a spherical robot wrist actuator." Thesis, Georgia Institute of Technology, 1987. http://hdl.handle.net/1853/15986.
Full text
4
Mendelowitz, Sarah E. (Sarah Elizabeth) 1980. "Design of an MRI compatible robot for wrist rehabilitation." Thesis, Massachusetts Institute of Technology, 2005. http://hdl.handle.net/1721.1/32357.
Full textAbstract:
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2005.Includes bibliographical references (leaves 153-156).
Magnetic Resonance Imaging (MRI) can be used to study the effects of robotic therapy on stroke patients. This thesis focuses on the design of an MRI compatible wrist robot to be used as a clinical tool for studying the stroke recovery process and the effectiveness of robotic therapy. The robot must comply with strict MRI compatibility requirements, which require careful selection of materials and components. The actuation approach consists of a non- MRI compatible electric motor placed outside the MR room, which is used to drive an MRI compatible hydraulic system. A novel, low friction, MRI compatible hydraulic vane motor was designed for use in the hydraulic system. The robot was designed for use with two interchangeable transmission alternatives: differential gears or friction drive. A stand was designed to allow the wrist robot and patient to fit comfortably within the MRI machine. The MRI compatible wrist robot was assembled and qualitatively tested.
by Sarah E. Mendelowitz.
S.M.
5
Celestino, James R. (James Richard). "Characterization and control of a robot for wrist rehabilitation." Thesis, Massachusetts Institute of Technology, 2003. http://hdl.handle.net/1721.1/34132.
Full textAbstract:
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2003.Includes bibliographical references (p. 209-214).
Human motor control pathologies, such as those caused by stroke, can be treated through physical rehabilitation. The use of robots in therapy environments seems appropriate considering the possibilities they offer for quantification of performance as well as "quality control" between therapy sessions. The research presented in this thesis is part of the continuing development of robotic applications for physical therapy and neuro-rehabilitation at the Newman Laboratory for Biomechanics and Human Rehabilitation. MIT-MANUS, a robot for shoulder and elbow therapy developed in this lab, introduced this new brand of therapy, offering a highly backdrivable mechanism with a soft and stable feel for the user. The focus here is the development, characterization, and implementation of a robot for wrist rehabilitation, designed to provide three rotational degrees of freedom. The wrist motions of flexion/extension and abduction/adduction are governed by a differential gear mechanism, while pronation and supination of the forearm are actuated by a curved slider attached to the rest of the mechanism. Through the characterization, the device was found to exhibit some unwanted behavior, largely attributable to the nonlinearities inherent in the system. Efforts to suppress these effects through control are presented along with recommendations for addressing these problems at the design level.
(cont.) The alpha prototype has been set up for clinical trials by providing a functional control scheme along with "video game" patient interfaces; initial clinical trials will run in parallel with the development of the next version of the device. If improvements comparable to those seen with the use of MIT-MANUS are seen with the wrist robot, then rehabilitation therapists will have a new and useful tool at their disposal.
by James R. Celestino.
S.M.
6
Livingston, Nicholas B. "AN EXPLORATION OF BIOLOGICALLY-INSPIRED ROBOT INTELLIGENCE." Case Western Reserve University School of Graduate Studies / OhioLINK, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=case1189180311.
Full text
7
Laferrière, Pascal. "Instrumented Compliant Wrist System for Enhanced Robotic Interaction." Thesis, Université d'Ottawa / University of Ottawa, 2016. http://hdl.handle.net/10393/35502.
Full textAbstract:
This thesis presents the development of an instrumented compliant wrist mechanism which serves as an interface between robotic platforms and their environments in order to detect surface positions and orientations. Although inspired by similar existing devices, additional features such as noncontact distance estimations, a simplified physical structure, and wireless operation were incorporated into the design. The primary role envisioned for this mechanism was for enabling robotic manipulators to perform surface following tasks prior to contact as this was one requirement of a larger project involving inspection of surfaces. The information produced by the compliant wrist system can be used to guide robotic devices in their workspace by providing real-time proximity detection and collision detection of objects.
Compliance in robotic devices has attracted the attention of many researchers due to the multitude of benefits it offers. In the scope of this work, the main advantage of compliance is that it allows rigid structures to come into contact with possibly fragile objects. Combined with instrumentation for detecting the deflections produced by this compliance, closed-loop control can be achieved, increasing the number of viable applications for an initially open-loop system.
Custom fabrication of a prototype device was completed to physically test operation of the designed system. The prototype incorporates a microcontroller to govern the internal operations of the device such as sensor data collection and processing. By performing many computation tasks directly on the device, robotic controllers are able to dedicate more of their time to more important tasks such as path planning and object avoidance by using the pre-conditioned compliant device data.
Extensive work has also gone into the refinement of sensor signals coming from the key infrared distance measurement sensors used in the device. A calibration procedure was developed to decrease inter-sensor variability due to the method of manufacturing of these sensors. Noise reduction in the signals is achieved via a digital filtering process.
The evaluation of the performance of the device is achieved through the collection of a large amount of sensor data for use in characterisation of the sensor and overall system behavior. This comes in the form of a statistical analysis of the sensor outputs to determine signal stability and accuracy. Additionally, the operation of the device is validated by its integration onto a manipulator robot and incorporating the data generated into the robot’s control loop.
8
Hanumara, Nevan Clancy. "Characterization and analysis of an MRI compatible robot design for wrist psychophysics and rehabilitation." Thesis, Massachusetts Institute of Technology, 2006. http://hdl.handle.net/1721.1/36234.
Full textAbstract:
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2006.Includes bibliographical references (leaves 110-112).
The MIT Wrist Robot has demonstrated the effectiveness of robotic therapy in aiding the rehabilitation of stroke victims. In order to investigate the neurological processes involved in this therapy and evaluate its effectiveness a patented MRI compatible version of the wrist robot is being developed, so that therapy and brain imaging may be carried out simultaneously. Patient actuation is accomplished with two standard electric motors, located outside the MRI chamber, which drive a non-ferrous, MRI compatible, low impedance hydraulic fluid transmission, consisting of two pairs of custom designed and fabricated vane motors. This thesis details the characterization and redesign of this robot, with emphasis placed upon the hydraulic system.
Nevan Clancy Hanumara.
S.M.
9
West, Jerry. "Orthoplanar Spring Based Compliant Force/Torque Sensor for Robot Force Control." Scholar Commons, 2017. http://scholarcommons.usf.edu/etd/6637.
Full textAbstract:
A compliant force/torque sensor for robot force control has been developed. This thesis presents methods of designing, testing, and implementing the sensor on a robotic system. The sensor uses an orthoplanar spring equipped with Hall-effect sensors to measure one component of force and two moment components. Its unique design allows for simple and cost effective manufacturing, high reliability, and compactness. The device may be used in applications where a robot must control contact forces with its environment, such as in surface cleaning tasks, manipulating doors, and removing threaded fasteners. The compliant design of the sensor improves force control performance and reduces impact forces.
Sensor design considerations are discussed, followed by a discussion of the proposed design concept. Theoretical compliance and stress analysis of the orthoplanar spring is presented that allows for rapid design calculations; these calculations are validated via finite element analysis. A mechanical design method is given which uses the results of the compliance and stress analysis. Transducer design is then addressed by developing a model of the sensor. The design methods are used to design a prototype sensor which is tested to determine its instrument uncertainty. Finally, the sensor is implemented on a robotic platform to test its performance in force control.
10
Liu, Taoming. "Design and Prototyping of a Three Degrees of Freedom Robotic Wrist Mechanism for a Robotic Surgery System." Case Western Reserve University School of Graduate Studies / OhioLINK, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=case1283538593.
Full text
11
Kočiš, Petr. "Orientační ústrojí průmyslových robotů." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2014. http://www.nusl.cz/ntk/nusl-231675.
Full textAbstract:
The diploma thesis deals with an orientation mechanism of industrial robots for mounting of pivots and screws into the mounting holes. In the first phase there is a research of inventions mainly realized in the United States Patent and Trademark Office database. Subsequently the conditions of the assembly are solved. On the base of the conditions the functional requirements are described. The diploma thesis includes seven conceptual variants, which are proposed as a 3D design. Using the basical multi-criteria method the best conceptual variant is specified. That is specified due to the accepted criterias. In the next part of the diploma thesis there is a calculation, that comprises this technically and economically most promising conceptual variant. The calculation consists of a statics, a kinematics and a dynamics of the propel, a stenght control of the mechanism and kinematics analysis of the whole mechanism. Results of the calculation are used by the detailed design of orientation mechanism, that also comprises technological production theory and a correct assembly. Economical analysis, which comprises cost of produce of this newly developed automation equipment, is worked up in the conclusion of the diploma thesis. The diploma thesis also comprises drawings. The variant solves a new conception, which can be patented as an utility model.
12
Shah, Rakshit Dixitkumar. "Three-dimensional Morphological Analysis of Normative and Manipulated Carpal Tunnel." Cleveland State University / OhioLINK, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=csu1579183487797445.
Full text
13
Chalard, Rémi. "Robustesse à la variabilité du comportement mécanique du point d'insertion en chirurgie mini-invasive robotisée. Application à la biopsie de prostate." Thesis, Sorbonne université, 2019. http://www.theses.fr/2019SORUS591.
Full textAbstract:
La chirurgie mini-invasive (MIS) permet au chirurgien d'opérer un patient sans avoir à l'inciser entièrement. Cette chirurgie consiste à insérer des instruments chirurgicaux à travers des orifices artificiels ou naturels. Bien que très avantageux pour le patient, elle entraîne de nombreuses contraintes pour le chirurgien. Afin d'améliorer les conditions de chirurgie pour le praticien, des systèmes robotisés ont été développés. Ces solutions permettent de comanipuler ou télémanipuler l'outil chirurgical en se basant sur le modèle du bras de levier pour traduire le problème de contrôle d'un instrument à travers un orifice. Ces travaux montrent qu'une petite erreur de calibration dans le modèle de la littérature peut entraîner une grande erreur statique et une divergence lors de déplacements automatiques en MIS. Pour assurer une minimisation des efforts appliqués sur la zone d'insertion, la thèse se concentre sur les robots anthropomorphiques à poignet libre. Pour réaliser des déplacements automatiques précis, il faut pouvoir connaître à tout instant et le plus précisément possible l'interaction entre le poignet du robot et la pointe de l'instrument. Pour cela, deux estimateurs sont implémentés dans une commande sur un robot à poignet libre et testés sur un set-up expérimental simulant l'insertion d'un instrument chirurgical à travers un orifice. Après avoir démontré la nécessité de prendre en compte les déformations des tissus pour des opérations telles que la biopsie de la prostate, la commande est utilisée dans une boucle d'asservissement visuel. Cet asservissement visuel permet de contrôler le positionnement d'une sonde échographique pour des biopsies de prostateMinimally Invasive Surgery (MIS) allows the surgeon to operate without cutting open the patient. This kind of surgery, which consists in the insertion of surgical tools through artificial or natural orifices, is spreading rapidly. Even though this technique presents numerous advantages for the patient, it presents many constraints for the surgeon. Many robotic devices have been developed to improve the working conditions of the surgeons. These solutions are based on a teleoperation or a co-manipulation of the surgical tool. The lever arm model has been used in the control of the instrument through an orifice. In this thesis, it is shown that a small calibration error in the lever arm problem can lead to a big static error and even to a divergence during automatic displacements in a Minimally Invasive Surgery context. To minimize the efforts applied to the insertion area, this thesis focuses on a free-wrist anthropomorphic robot. To automatically move with accuracy, the interaction between the robot wrist and the tool point needs to be known at every time step. Two estimators have been developed and implemented in a control law for a wrist free anthropomorphic robot. This control law has been tested on a experimental setup simulating the insertion of a surgical tool through an orifice. The need to take the tissues deformations into account once demonstrated for surgeries such as prostate or uterine biopsy, the control law has been used in a visual servoing loop based on ultrasound images. This visual servoing can be used to control the position of an ultrasound probe for prostate biopsies
14
Tesfaldet, Mogos Tseletu. "Evaluation of the validity of IMU sensors measuring wrist angular velocity by comparison with an optical motion tracking system." Thesis, KTH, Skolan för kemi, bioteknologi och hälsa (CBH), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-283787.
Full textAbstract:
There is a need for objective methods for wrist angular velocity measurements for accurate risk assessments because there is a high frequency of musculoskeletal disorder in workers. The goal of this project was to validate the accuracy of inertial measurement unit sensors to measure the angular velocity. More specifically, the purpose of this master thesis project was to apply an alternative algorithm to compute the markers velocity, other than the one from the optical system that Jenny Wingqvist, and Josephine Lantz used. The project used an experimental data of 10 participants from the previous project done by Jenny Wingqvist and Josephine Lantz. To validate the accuracy, the data of angular velocity of the sensors was compared with the data of angular velocity of markers. The lowest mean value of the root mean square differences value was 23.5 degrees/s during flexion and deviation standard movements at 40 BPM (Beats Per Minute) and the maximum value was 110.5 degrees/s at 140 BPM. The mean value of the correlation coefficients between markers and sensors angular velocities in standard movements of flexion and deviation were 0.85, 0.88, and 0.89 at 40 BPM, 90 BPM, and 140 BPM, respectively. The smallest and the largest mean value of the absolute difference in 50th percentile was found in 40 BPM (19.4±11.3), and 140 BPM (51.2±28.5) respectively. The decorrelation coefficient between the subjects 50th percentile of the angular velocity was 0.91 for the standard movements. The upper limit of agreement for the standard movements was 78.36 degrees/s, while the lower limit of agreement was -13.76 degrees/s. The results show that the error was too large, so there is a need of further research to measure the wrist angular velocity using IMU sensors.
15
Hsueh-YiTsai and 蔡學怡. "Vision-Based Paddle Juggling System with Carpal Wrist Robot." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/umq35b.
Full textAbstract:
碩士國立成功大學
工程科學系
107
The main objective of this thesis is to design and implement a vision-based paddle juggling system using a stereo vision system and a carpal wrist robot. The carpal wrist robot is chosen because of its superior dexterity and similarity to the human wrist and it has three degree of freedom. As a result of its symmetric parallel architecture, it has a large payload capacity. In the stereo vision system, two image sensors are used to provide stereo vision. The stereo vision system is able to track the ball according to its color information. An extended Kalman filter is then used to estimate the dynamics of the ball and predict its future trajectory and velocity. Based on the dynamics of the ball estimated by the extended Kalman filter, the carpal wrist robot can determine the timing, velocity, position and posture for paddling the ball. Image processing algorithms are implemented on an FPGA-based board through Verilog hardware description languages. The extended Kalman filter and robot controller are implemented on digital signal processors. Through experiments, the ball can be tracked by the stereo vision system, and the carpal wrist robot can continue to paddle the ball and the ball is maintained at set height with at least 150 successful strokes.
16
Jiang, Chii Horng, and 江啟宏. "Design of Decoupling Driving Mechanism for Gear Robot Wrist." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/63099093887840350691.
Full textAbstract:
碩士國立臺灣科技大學
機械工程研究所
84
A systematic method for the structure and dimensional synthesis for the Decoupling Driving Mechanisms(DDM) of several commonly used bevel geared type robot wrists is presented in this thesis. The proposed design consists of a main decoupling modular and a complementary transmission gear box. The main decoupling modular contains a set of planetary gear trains, the basic form and the combination of these gear trains are sythesized based on the coupling characteristics and the type of the wrists. The gear box is synthesized according to the actual speed ratio and transmission properties of the wrist deal with. In addition, the dimensional synthesis of the gear box is formulated as a discrete optimization problem. The optimal industrial standard modulus and dimensions of the gears are chosen such that the size of the resulting mechanisms is minimized.
17
Kung, Bing-Cheng, and 龔品誠. "Upper Limb Rehabilitation Robot Augmented with Wrist Controllability Measurement System." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/58321753316949198690.
Full textAbstract:
碩士國立成功大學
機械工程學系碩博士班
92
In our previous study, a shoulder-elbow rehabilitation robot was developed for neuro-rehabilitation of the upper extremity. The robot was designed to perform a two-dimensional motion in a planar workspace. A fuzzy logic controller was employed to realize the position and force control such that the robot could apply either resistant or assistant force on the subject’s wrist when the upper limb was performing a circular movement. A treatment protocol and the quantitative assessment technique were also developed. The goals of this current study are two-fold. The first is to rebuild a new rehabilitation robot. The existing rehabilitation robot for upper limbs is oversized and overweight for clinical applications. A smaller rehabilitation robot is assembled onto a worktable and the control system is transformed from DOS to Windows environment. The new robot can perform well control to track a predefined circular or straight trajectory. The position errors of tracking were within the allowable error limit. The second goal, is to verify found that the synergy patterns of stroke patients is highly correlated with their impaired motor function. One of the synergy patterns is that the strokes will pronate or supinate their forearms involuntarily when they move their elbow joints. A new torque measurement system is designed and installed on the old shoulder-elbow rehabilitation robot. The pronation/supination torque and the trajectory of tracking movement are recorded during the treatment procedure, and the pronation and supination torque of forearm are analyzed offline. The experimental results revealed that the synergy patterns of stroke subject could be detected and quantified while the subjects were performing the tracking movement on the transverse plane. As a contrast, the normal subjects performed less synergy patterns.
18
Jia-HaoHsiao and 蕭家豪. "Design and Implementation of a Vision-Based Paddle Juggling Control System using the Carpal Wrist Robot." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/97106707939634114665.
Full textAbstract:
碩士國立成功大學
工程科學系
104
The main objective of this thesis is to design and implement a paddle juggling system using a stereo vision system and a carpal wrist robot. The carpal wrist robot is chosen because of its superior dexterity and similarity to the human wrist and it has three degree of freedom. As a result of its symmetric parallel architecture, it has a large payload capacity. In the stereo vision system, two image sensors are used to provide stereo vision. The stereo vision system is able to track the ball according to its color information. A Kalman filter is then used to estimate the dynamics of the ball and predict its future trajectory. Based on the dynamics of the projectile estimated by Kalman filter, the carpal wrist robot can determine the timing, velocity, position and posture for paddling the ball. Through simulation and experiments, this thesis has demonstrated the effectiveness of the designed system.
19
Hsu, Yi-Yueh, and 許一月. "The Systematic Innovation Design and Manufacture - Use Bionics Pet Robot and Self-Generating Wrist Ball as an Illustration." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/65gxyg.
Full textAbstract:
碩士國立虎尾科技大學
機械與機電工程研究所
96
This research applied TRIZ (Theory of Inventive Problem Solving) theory to the systematic solution of Bionics Robot and Self-Generating Wrist Ball. Also, this research applied the classical TRIZ theory of Genrich Altshuller and the improved TRIZ theory of Darrell Mann to improve the innovative scheme. In order to verify the practicability, this research manufacture the prototype. The results will improve the functions of Bionics Robot and Self-Generating Wrist Ball. First, This research adopted the contradiction matrix and ideal design of classical TRIZ as the systematic design basis for innovating Bionics Robot. This research applied Intelligent Robot (Dr. Bioloid) to combine and make up the Bionics Rabbit Robot. This research also reformed the fluent action of Bionics Rabbit Robot which makes the movement pattern to possess with the functions of bionics, obstacle-avoiding and remote control. Furthermore, This researched the TRIZ theory of Darrell Mann, and applied the contradiction and ideal modules of CREAX as the design basis for innovating Self-Generating device. In this research, This researched bettered the Wrist Ball; not only improved the electricity of primitive organization of Hand to Rock Flashlight, but also increased the electric to reach the multi-functional goals of environmental protection, exercise, and manpower electricity. TRIZ theory could guide designers to research and develop products and innovations systematically, gets rid of the inertial thinking, and shortens the time of design plan. Achievements and contributes of this research are: (1) Making association and increasing the simulation procedure of movements of Bionics Rabbit Robot to enrich its movement with functions of bionics, obstacle-avoiding and remote control; (2)Improving Wrist Ball and making the magnet and coil at a high speed cut (hand to rock current-cutting about 120 / minute on average, improving that maximum speed can exceed 14000 / minute for rotating cut) and increase the electricity (the highest output voltage of coil form 3-6V increases to 13.89V). This research designed the Wrist Ball to produce enough electricity for USB products.