Research publications are listed by university in chronological order. A list of publications can be found below followed by an in depth list of the publications in indentical order. Downloads for each publication can be found in the in publication overview section at the end of the specific publication's abstract.
Electromagnetic Actuator with Soft Resetting Mechanism
Buddy Bot: Smart MAterial Actuated Silicone Soft Gripper Social Assistive Robot for Hospice, Home, and Personal Care (2023)
HBS-1.2: Lightweight Socially Assistive Robot with 6-Ply Twisted Coiled Polymer Muscle Actuated Hand
University of Texas at Dallas:
Humanoid Biorobotics and Smart Systems Lab:
by: Tristan Linn and Yonas Tadesse
Published: Pending
Abstract:
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DOI:
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by: Tristan Linn, Abhishek P. Singh, Syed Imran U. Fnu, Abhishek G. Saxena, and Yonas Tadesse
Published: Pending
Abstract:
Buddy Bot is a humanoid social assistive robot with soft gripping, smart material actuated, silicone grippers. The robot has been designed for assistive care and human-robot interactions through object retrieval and delivery of home care items such as pill capsules, glasses, first aid items, and personal items. The robot can also identify and show empathy through an expressive human friendly face and the use of camera vision. Camera vision was made through use of a convolutional neural network and smart vector machine that allows for the identification of a range of emotions of people. This paper describes the capabilities of the Buddy Bot using soft grippers in its assistive and personal care duties and its potential in application in the robotic care industry.
DOI:
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by: Abhishek Pratap Singh, Darshan Palani, Onan Ahmed, Pawandeep Singh Matharu, Tristan Linn, Trung Nguyen, Yonas Tadesse
Published: August 1, 2023
Abstract:
In this paper, a new socially assistive robot (SARs) called HBS-1.2 is presented, which uses 6-ply twisted and coiled polymer (TCP) artificial muscles in its hand to perform physical tasks. The utilization of 6-ply TCP artificial muscles in a humanoid robot hand is a pioneering advancement, offering cost effective, lightweight, and compact solution for SARs. The robot is designed to provide safer human–robot interaction (HRI) while performing physical tasks. The paper explains the procedures for fabrication and testing of the 6-ply TCP artificial muscles, along with improving the actuation response by using a Proportional-Integral-Derivative (PID) control method. Notably, the robot successfully performed a vision-based pick and place experiment, showing its potential for use in homecare and other settings to assist patients who suffer from neurological diseases like Alzheimer’s disease. The study also found an optimal light intensity range between 34 to 108 lumens/m2, which ensures minimal variation in calculated distance with 95% confidence intervals for robust performance from the vison system. The findings of this study have important implications for the development of affordable and accessible robotic systems to support elderly patients with dementia, and future research should focus on further improving the use of TCP actuators in robotics.
DOI: https://doi.org/10.3390/act12080312