International Journal of Mechanisms and Robotic Systems
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International Journal of Mechanisms and Robotic Systems (2 papers in press)
Decoupling optimisation and fuzzy back end evaluation of lower extremity exoskeleton robot by Jinliang Gong, Ke Sun, Xuefang Teng, Yanfei Zhang, Yubin Lan, Mostafa Kazi Abstract: To improve the efficiency of innovative design and performances of product, a self-commentary design method facing product-oriented innovation and fuzzy back end evaluation was proposed. Firstly, a functional structure mode of product was built on the basis of axiomatic design theory. The contradiction matrix must be built and the initial scheme should be redesigned by TRIZ conflict analysis method in order to be decoupled, and got product innovation program. Lastly, taking the lower extremity exoskeleton robot as an example, the structure was decoupled and optimised using Altium Designer (AD) and TRIZ theory and the performance of the lower extremities exoskeleton robot was evaluated quantificationally by using fuzzy analytic hierarchy process, which verified the feasibility and effectiveness of the decoupling design and fuzzy back end evaluation method for product innovation design and inspection. Keywords: TRIZ; axiomatic design; fuzzy analytic; couple; conflict. DOI: 10.1504/IJMRS.2021.10042915
Natural hand posture determination using control-oriented inter-finger coordination kinematic models by Nina Robson, Jong-Seob Won Abstract: The paper builds up on a recently developed planar control-oriented finger kinematic model for natural grasping, based on thumb-long finger(s) anthropometric data. In the model, the posture is determined by the time-dependent radius R of a virtual cylinder encompassed by the fingers. After the experimental evaluation of the model, the results are combined with circle configuration techniques based on the Pedoe maps, to explore the relation between the fingertip-object curvature within the contact and the configuration parameter R for precision grasping. Within the proposed contact geometry setup the fingertip and object curvatures are represented by circles with different radii. The type of interaction is described by defining a configuration matrix. Six fingertip grasping configurations are considered, each of which is constructed from five available circles: two for the fingertips, one virtual circle, and two at the fingertip-object contact points. The results from the case study show that it is possible to calculate the configuration control parameter R based on the choice of any four circles. The preliminary results could further benefit the field of postural synergies and object manipulation, and open the door to the definition of novel kinematic tasks and future combined design-control strategies. Keywords: human motion; Pedoe maps; contact and curvature kinematic constraints. DOI: 10.1504/IJMRS.2022.10044234