Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 9 of 9 for “"gravity compensation"”.
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Dynamically Evaluated Gravity Compensation for the RAVEN Surgical Robot
… with respect to the direction or magnitude of gravity. A simple and novel method has been developed and implemented for overcoming gravity induced torques on the RAVEN surgical research robot. This innovation will allow for accurate control of serial robot manipulators with re-orientable bases …
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Design of a Gravity Compensation Actuator for Arm Assistance
… and arm, this actuator is able to provide gravity compensation for the upper extremities of workers, if used in conjunction with an arm exoskeleton. The actuator is passive, meaning that it does not use motors or sensors, but instead creates a force on a cable that is a function of the …
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A Novel Method and Two Exoskeletons for Whole-arm Gravity Compensation
… A Novel Method and Exoskeletons for Whole-arm Gravity Compensation (Turner, Hull 2020), and includes a novel concept for supporting the weight of a person's arm or robotic linkage. The design is capable of supporting weights held near the hand, and provides support regardless of position. This …
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Simulation and Design of Two Tool Support Arm Exoskeletons with Gravity Compensation
We present and analyze two arm exoskeletons based on a pantograph linkage that allow for the support of 89~N (20~pounds) at the user's hand. Using a pantograph linkage allows for a constant force to be created at the hand in any orientation when a constant vertical force is supplied to the other …
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3D Upper-extremity ExoNET: Improved Passive Exoskeleton for Gravity Compensation and Motor Rehabilitation
… Torque) is conceived to provide effective gravity compensation for the upper limb through a fully passive, elastic based mechanism. The theoretical model re lies on a network of diagonal elastic elements acting as basis functions to generate torque–angle f ields that counteract the effects …
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Motor planning for reach memorization task in 3D space
… In addition, an external force opposing gravity was applied in half of the trials. Pointing errors and different parameters of movement kinematics were analyzed and compared across conditions. It was observed that both the magnitude and the direction of reaching errors were affected by …
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Theoretical and Experimental Investigation of Free-Floating Space Manipulator Motion Control Using Reinforcement Learning
… overcome the difficulty in mimicking the 3D microgravity environment on Earth, this doctoral research has devoted efforts to designing and building a hardware-in-the-loop ground testbed with active gravity compensation in our lab. The testbed involves two industrial 6DOF robotic arms, one robotic …
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Positioning In Indoor Environments Based on INS and RF Sensor Fusion
… Considering the INS based applications, a gravity compensation method is used for filtering the gravitational changes which corrupt the outputs of the accelerometers. A different method is then applied to automatically reset the INS errors found when obtaining the distance travelled by …