FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W4384455713> ?p ?o ?g. }

• W4384455713 abstract "Compact, low‐inertia, and soft compliant robotic joint mechanisms are in great demand for ensuring safe interactions in human–robot collaborative tasks. Tensegrity, of which the structural integrity is constrained by tension, does not involve static/sliding friction among the rigid components. However, this mechanical stability is very susceptible to actuation errors. It requires complex kinematics modeling and sophisticated control model with sensing feedback. Herein, a low‐inertia tensegrity joint that is covered/protected by a fiber Bragg grating (FBG)‐embedded silicone sheath is proposed, with the aim to reinforce the joint motion stability and enable self‐contained sensing feedback. A learning‐based closed‐loop controller is also designed and trained with the proper joint configurations selected by a two‐step sampling method. Both the kinematics and static equilibriums of such configurations can be well satisfied. The experiments demonstrate that the joint can follow paths accurately in 2D by compensating manipulation error shortly under the closed‐loop control. The joint stiffness can also be varied against the external/impulsive disturbances. It can be foreseen that this primitive robot joint component with 2 degrees of freedom (DoFs) can provide safe, compliant interaction with human, for which a simple test of maneuvering a portable ultrasound probe (≈210 g) for abdominal imaging is demonstrated." @default.
• W4384455713 created "2023-07-16" @default.
• W4384455713 creator A5000954907 @default.
• W4384455713 creator A5005920075 @default.
• W4384455713 creator A5013504201 @default.
• W4384455713 creator A5022035032 @default.
• W4384455713 creator A5038930344 @default.
• W4384455713 creator A5049212334 @default.
• W4384455713 creator A5050951579 @default.
• W4384455713 creator A5086901388 @default.
• W4384455713 creator A5087264224 @default.
• W4384455713 date "2023-07-16" @default.
• W4384455713 modified "2023-10-18" @default.
• W4384455713 title "A Tensegrity Joint for Low‐Inertia, Compact, and Compliant Soft Manipulators" @default.
• W4384455713 cites W1996934746 @default.
• W4384455713 cites W2011598336 @default.
• W4384455713 cites W2037290941 @default.
• W4384455713 cites W2066399169 @default.
• W4384455713 cites W2128677987 @default.
• W4384455713 cites W2147492425 @default.
• W4384455713 cites W2412810726 @default.
• W4384455713 cites W2588052119 @default.
• W4384455713 cites W2777674866 @default.
• W4384455713 cites W2895599712 @default.
• W4384455713 cites W2895773960 @default.
• W4384455713 cites W2909067076 @default.
• W4384455713 cites W2936498777 @default.
• W4384455713 cites W2963491608 @default.
• W4384455713 cites W2980980233 @default.
• W4384455713 cites W3003514119 @default.
• W4384455713 cites W3014188318 @default.
• W4384455713 cites W3014213195 @default.
• W4384455713 cites W3016039917 @default.
• W4384455713 cites W3089015621 @default.
• W4384455713 cites W3120695705 @default.
• W4384455713 cites W3159407446 @default.
• W4384455713 cites W3179637311 @default.
• W4384455713 cites W3180054258 @default.
• W4384455713 cites W3198607806 @default.
• W4384455713 cites W3206524083 @default.
• W4384455713 cites W3210736957 @default.
• W4384455713 cites W4200386777 @default.
• W4384455713 cites W4213419218 @default.
• W4384455713 cites W4225124388 @default.
• W4384455713 cites W4226128209 @default.
• W4384455713 cites W4280548013 @default.
• W4384455713 cites W4285040460 @default.
• W4384455713 cites W4289965654 @default.
• W4384455713 cites W4294068704 @default.
• W4384455713 cites W4306409761 @default.
• W4384455713 cites W4311215077 @default.
• W4384455713 cites W4312254205 @default.
• W4384455713 cites W4312503073 @default.
• W4384455713 cites W4321770324 @default.
• W4384455713 cites W4366449600 @default.
• W4384455713 doi "https://doi.org/10.1002/aisy.202300079" @default.
• W4384455713 hasPublicationYear "2023" @default.
• W4384455713 type Work @default.
• W4384455713 citedByCount "0" @default.
• W4384455713 crossrefType "journal-article" @default.
• W4384455713 hasAuthorship W4384455713A5000954907 @default.
• W4384455713 hasAuthorship W4384455713A5005920075 @default.
• W4384455713 hasAuthorship W4384455713A5013504201 @default.
• W4384455713 hasAuthorship W4384455713A5022035032 @default.
• W4384455713 hasAuthorship W4384455713A5038930344 @default.
• W4384455713 hasAuthorship W4384455713A5049212334 @default.
• W4384455713 hasAuthorship W4384455713A5050951579 @default.
• W4384455713 hasAuthorship W4384455713A5086901388 @default.
• W4384455713 hasAuthorship W4384455713A5087264224 @default.
• W4384455713 hasBestOaLocation W43844557131 @default.
• W4384455713 hasConcept C110407247 @default.
• W4384455713 hasConcept C121332964 @default.
• W4384455713 hasConcept C127413603 @default.
• W4384455713 hasConcept C133731056 @default.
• W4384455713 hasConcept C154945302 @default.
• W4384455713 hasConcept C182950735 @default.
• W4384455713 hasConcept C18555067 @default.
• W4384455713 hasConcept C203479927 @default.
• W4384455713 hasConcept C2775924081 @default.
• W4384455713 hasConcept C2779372316 @default.
• W4384455713 hasConcept C2781415944 @default.
• W4384455713 hasConcept C39920418 @default.
• W4384455713 hasConcept C41008148 @default.
• W4384455713 hasConcept C44154836 @default.
• W4384455713 hasConcept C47446073 @default.
• W4384455713 hasConcept C6557445 @default.
• W4384455713 hasConcept C66938386 @default.
• W4384455713 hasConcept C74650414 @default.
• W4384455713 hasConcept C86803240 @default.
• W4384455713 hasConcept C90509273 @default.
• W4384455713 hasConceptScore W4384455713C110407247 @default.
• W4384455713 hasConceptScore W4384455713C121332964 @default.
• W4384455713 hasConceptScore W4384455713C127413603 @default.
• W4384455713 hasConceptScore W4384455713C133731056 @default.
• W4384455713 hasConceptScore W4384455713C154945302 @default.
• W4384455713 hasConceptScore W4384455713C182950735 @default.
• W4384455713 hasConceptScore W4384455713C18555067 @default.
• W4384455713 hasConceptScore W4384455713C203479927 @default.
• W4384455713 hasConceptScore W4384455713C2775924081 @default.
• W4384455713 hasConceptScore W4384455713C2779372316 @default.

• next