A Novel Design of a Full Length Prosthetic Robotic Arm for the Disabled

Kumar, Vudattu Sachin; Aswath, S.; Shashidhar, Tellakula Sai; Choudhary, Rajesh

doi:10.1007/978-3-319-31293-4_22

Cited by 8 publications

(2 citation statements)

References 4 publications

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“…The actuator was made of a two-component nitrile rubber which is RTV (room temperature vulcanizing) type. The material properties of nitrile rubber are listed in the following Table 1 [10,11]. The CAD model of the AFPA is shown in Figure 1.…”

Section: Design and Analysis Of Robotic Handmentioning

confidence: 99%

Design and development of soft robotic hand for vertical farming in spacecraft

Suresh

Udupa

Gaba

2020

IJRA

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<p>For colonization in deep space we need to explore the feasibility of a bioregenerative system in microgravity or artificial gravity environments. The process has various complexities form ranging to biological obstacles to engineering limitations of the spacecraft. Concentration of microbes in the confinements of a spacecraft can be fatal for the crew. In this paper, a solution to the elevated microbial levels by farming using robots is discussed. The soft robotic arm is made up of Asymmetric Flexible Pneumatic Actuator (AFPA). The AFPA under internal pressure will curve in the direction of the side having greater thickness as the expansion of the thinner side (outside radius) will be more than thicker side (inside radius) due to differential expansion and moment induced due to eccentricity. Simulation results demonstrate that bending based on AFPA can meet the designed requirement of application. The AFPA is used for five fingers of the robotic hand. The safe, soft touch and gentle motion of the bellow (AFPA) gives the feel of real human hand. The internal pressure of the AFPA is controlled using a solenoid valve which is interfaced using an Arduino microcontroller for hand like moves. The bending of the fingers and degree of freedom (DOF) of the joints of the hand is controlled using an IMU and flex sensor. Wireless connection of the hand and the control system is implemented using XBee pro 60mW with a range of 1 miles.The pneumatic soft robotic hand is made up of solenoid valve, Mini Compressor, AFPA bellow, and Servos. This soft robotic hand has many advantages such as good adaptability, simple structure, small size, high flexibility and less energy loss. As an extension Manual control of the robot using a virtual reality environment and well as some possible aspects of an automated farming systems can be considered as future additions.</p>

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Section: Design and Analysis Of Robotic Handmentioning

confidence: 99%

Design and development of soft robotic hand for vertical farming in spacecraft

Suresh

Udupa

Gaba

2020

IJRA

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“…One of the applications of visual odometry has been to estimate vehicle motion from the rearparking camera and use this information with GPS to provide accurate localization [26][27][28]. The task of visual servoing [29][30] (Moving the camera to a desired orientation) is very similar to the visual odometry problem requiring pose estimation for a different purpose [31][32][33]. These schemes are not only useful for navigation of rovers on surfaces of other planets such as Mars [34] but are also useful for tracking of satellites that needs to be repaired using a servicer [35].…”

Section: …………………………………………………………………………………………………… Introduction:-mentioning

confidence: 99%