A state-of-the-art review on robotics in waste sorting: scope and challenges

Satav, Anushka G.; Kubade, Sunidhi; Amrutkar, Chinmay; Arya, Gaurav; Pawar, Ashish

doi:10.1007/s12008-023-01320-w

Cited by 16 publications

(1 citation statement)

References 72 publications

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“…Over the past few years, there has been a significant expansion in the domains where robotics is employed. Beyond the conventional industrial applications such as material handling, welding, and machine tending, contemporary robotics finds its way into diverse sectors such as the construction sector [1], rescue robotics [2], agricultural [3,4] and food industry [5], waste management [6], entertainment [7], security systems [8], etc.…”

Section: Introductionmentioning

confidence: 99%

Applying Screw Theory to Design the Turmell-Bot: A Cable-Driven, Reconfigurable Ankle Rehabilitation Parallel Robot

Vargas-Riaño,

Agudelo-Varela,

Valera

2023

Robotics

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The ankle is a complex joint with a high injury incidence. Rehabilitation Robotics applied to the ankle is a very active research field. We present the kinematics and statics of a cable-driven reconfigurable ankle rehabilitation robot. First, we studied how the tendons pull mid-foot bones around the talocrural and subtalar axes. We proposed a hybrid serial-parallel mechanism analogous to the ankle. Then, using screw theory, we synthesized a cable-driven robot with the human ankle in the closed-loop kinematics. We incorporated a draw-wire sensor to measure the axes’ pose and compute the product of exponentials. We also reconfigured the cables to balance the tension and pressure forces using the axis projection on the base and platform planes. Furthermore, we computed the workspace to show that the reconfigurable design fits several sizes. The data used are from anthropometry and statistics. Finally, we validated the robot’s statics with MuJoCo for various cable length groups corresponding to the axes’ range of motion. We suggested a platform adjusting system and an alignment method. The design is lightweight, and the cable-driven robot has advantages over rigid parallel robots, such as Stewart platforms. We will use compliant actuators for enhancing human–robot interaction.

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