کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
6955444 1451858 2016 13 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Neuro-fuzzy estimation of passive robotic joint safe velocity with embedded sensors of conductive silicone rubber
ترجمه فارسی عنوان
برآورد فازی نوری-فازی سرعت سریع ایمنی مشترک رباتیک با سنسورهای جاسازی شده لاستیک سیلیکون رسانا
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر پردازش سیگنال
چکیده انگلیسی
Robotic operations need to be safe for unpredictable contacts. Joints with passive compliance with springs can be used for soft robotic contacts. However the joints cannot measure external collision forces. In this investigation was developed one passive compliant joint which have soft contacts with external objects and measurement capabilities. To ensure it, conductive silicone rubber was used as material for modeling of the compliant segments of the robotic joint. These compliant segments represent embedded sensors. The conductive silicone rubber is electrically conductive by deformations. The main task was to obtain elastic absorbers for the external collision forces. These absorbers can be used for measurement in the same time. In other words, the joint has an internal measurement system. Adaptive neuro fuzzy inference system (ANFIS) was used to estimate the safety level of the robotic joint by head injury criteria (HIC).
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanical Systems and Signal Processing - Volumes 72–73, May 2016, Pages 486-498
نویسندگان
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