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In this past two months, DEXDEB was carrying out the trajectory analysis and progressing on the concept of mapping human hand trajectory to the joint space and workspace of the robotic hand. The investigation on the possibility of using a foam model to replace meat for the experiments is in a preliminary test. The left-hand...
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Dec 1, 2011
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The varnish experiment has not been performed yet because the robot has been updated by the provider with a new arm and a new controller. Now the robot is in our lab and we will test it. In the meanwhile acquisition and shape regognition algorithms have been elaborated and tested. The part database and varnish composition is...
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Dec 2, 2011
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The tests and framework studies that have been done in the last two months, belong partially to Task 2 (Positioning/Relocation), partially to Task 3 (Site Tolerance) and partially to Task 4 (Material Tolerances). Current stage of the project requires an integral progress on all of these 3 tasks and it aims proving the steps...
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Dec 5, 2011
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The ASTRO robot was assembled in its definitive appearance for experimentation with users and it is now usable in tele-operated mode to provide remote assistance at home. Also the final development of the touch screen GUI and communication interface was performed (http://www.youtube.com/watch?v=i2IQX5MbzDU). home.
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Dec 6, 2011
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In the period of reference (October 2011-November 2011) the following sub-tasks have been continued, according to the TESBE workplan: T1.3: Numerical assessment of the selected control approaches T2.2: Implementation and test of the collaborative control T3.3: Detailed development of the gripper In subtask 1.3, the...
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Dec 8, 2011
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We designed the hardware controlled safety system. A systematic safety analysis was performed that consisted of several steps identification of the dangers, identification of actuator controls and actuator control values to reach a safe state. The identified actuator controls to reach a safe state for the tractor are the...
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Dec 12, 2011
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The completion of Deliverable DHyropa2 was aim of the last reporting period since September 2011 (Task 2). The IFF has therefore revised the passive gripping arms and the additional equipment (e.g. hydraulic system for clamping). The gripping arms were tested and adjusted to the maximal intended loads and forces of the...
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Dec 13, 2011
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The activities carried out during the last months are summarized as follows:
- Validation tests of two methods for upper limb kinematics reconstruction are being carried out.
- Adaptive algorithms for intelligent machine learning are the basis for our multimodal rehabilitation system that automatically adapts the...
[Last edited
Dec 21, 2011
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For the magnetic localization of the mobile robot we have mainly finished the evaluation sensor array based on 30 MAGMODULES. Regarding the software implementation of the MAGMODUL for the magnetic localization we have created a tool to insert reference points to eliminate odometry errors. The maps are now odometry error free....
[Last edited
Dec 23, 2011
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During the last two months we focused on the following aspects. • Mapping algorithms with the DLR-HIT II hand. In particular we implemented joint to joint mapping, while fingertip mapping and the proposed virtual sphere mapping are ongoing activities. • Calibration and tests of the sensorized object. ...
[Last edited
Dec 27, 2011
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