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Full-Text Articles in Engineering
On Sensorless Collision Detection And Measurement Of External Forces In Presence Of Modeling Inaccuracies, Vahid Sotoudehnejad
On Sensorless Collision Detection And Measurement Of External Forces In Presence Of Modeling Inaccuracies, Vahid Sotoudehnejad
Electronic Thesis and Dissertation Repository
The field of human-robot interaction has garnered significant interest in the last decade. Every form of human-robot coexistence must guarantee the safety of the user. Safety in human-robot interaction is being vigorously studied, in areas such as collision avoidance, soft actuators, light-weight robots, computer vision techniques, soft tissue modeling, collision detection, etc. Despite the safety provisions, unwanted collisions can occur in case of system faults. In such cases, before post-collision strategies are triggered, it is imperative to effectively detect the collisions. Implementation of tactile sensors, vision systems, sonar and Lidar sensors, etc., allows for detection of collisions. However, due to …
A Hybrid Visual Control Scheme To Assist The Visually Impaired With Guided Reaching Tasks, Duane Jacques
A Hybrid Visual Control Scheme To Assist The Visually Impaired With Guided Reaching Tasks, Duane Jacques
Electronic Thesis and Dissertation Repository
In recent years, numerous researchers have been working towards adapting technology developed for robotic control to use in the creation of high-technology assistive devices for the visually impaired. These types of devices have been proven to help visually impaired people live with a greater degree of confidence and independence. However, most prior work has focused primarily on a single problem from mobile robotics, namely navigation in an unknown environment. In this work we address the issue of the design and performance of an assistive device application to aid the visually-impaired with a guided reaching task. The device follows an eye-in-hand, …