123 views

2:51

Watch
- Search Videos
  
  Advanced search »
- Submit a New Video
Discuss
About
- Try clicking on the various channels to see videos posted to that channel - if you're into music you can click the Music channel to get more music sifts - go on and explore! Use the "hotness" when you have opened the channel link to get videos that have gotten a lot of votes, or use "newness" to have a look at the new sifts.
  When browsing sifts you like, have a look at the Related Posts list to see other related videos, click the tags under the video title to see more sifts tagged with the same tags or have a look at other sifts from the same user in the More Posts By list. If the sifted video is in a play list, have a look at the play list to see other interesting videos the Sift users have linked together.
  Enter the Sift Lounge to chat with online sifters about anything and everything, or read interesting posts in the Sift Talk forum.
  The Top New Videos list is always full of interesting, current videos. It is always recommended that you have a look through the Top New Videos, but also have a look at these:
  - Upcoming Unsifted Videos - active video submissions that neither are published to the front page nor archived to the submitter's personal queue
- Have you seen a really funny, surprising, scary, interesting, cute or in any other way extra good quality video?
  Post and share it here - VideoSift is the best video aggregator on the Web, where we share, discuss, promote, and interact with the best videos out there on the web. Post it here, and share it with the large community of video-interested users. And - you are guaranteed to find more very good videos here already!
  Mind you, we only share videos you discover that someone else has made; if you "self link," by posting a video you have made, have posted or have interests in, you risk the ban hammer - read the posting guidelines before posting. The sift is NOT for promoting your own videos - it is for sharing videos others have made.
  Submit a Video Now »
Login

Supernumerary 3DOF Robotic Arm

submitted by newtboy

4 years 6 months 1 week ago

Createk third-arm : Supernumerary robotic arm powered by magnetorheological clutches and an hydrostatic transmission. Fast enough to compensate for human motions while being safe for physical human-robot interaction.

More information can be found in this paper :
Catherine Véronneau, Jeff Denis, Louis-Philippe Lebel, Marc Denninger, Vincent Blanchard, Alexandre Girard, and Jean-Sébastien Plante, “Multifunctional Remotely Actuated 3-DOF Supernumerary Robotic Arm Based on Magnetorheological Clutches and Hydrostatic Transmission Lines”, 2020, Robotics and Automation Letters (RAL) and ICRA 2020, (pp. 2546-2553), DOI : 10.1109/LRA.2020.2967327

ABSTRACT : Supernumerary robotic limbs (SRL) are wearable extra limbs intended to help humans perform physical tasks beyond conventional capabilities in domestic and industrial applications. However, unique design challenges are associated with SRLs as they are mounted on the human body. SRLs must 1) be lightweight to avoid burdening the user, 2) be fast enough to compensate for human unpredictable motions, 3) be strong enough to accomplish a multitude of tasks, 4) have high force bandwidth and good backdrivability to control interaction forces between the user and the environment. This paper studies the potential of a remotely actuated 3-DOF supernumerary robotic arm equipped with a 3 fingers soft gripper, both powered by magnetorheological (MR) clutches and hydrostatic transmission lines. The tethered configuration allows the power-unit to be located on the ground, which minimizes the remote mass (4.2 kg) on the user. MR clutches minimize the actuation inertia in order to provide fast dynamics and good backdrivability. An experimental open-loop force-bandwidth of 18 Hz is obtained at each joint and the maximal speed reached by the device end-effector is 3.4 m/s, which is sufficient for compensating human motions. In addition, the two first joints provide 35 Nm and the third joint provides 29 Nm, which is strong enough to hold manual industrial tools. Finally, the SRL is put in real practical situations, as fruit and vegetables picking, painting, tools holding and badminton playing. The capability of the proposed MR-Hydrostatic SRL to perform successfully various tasks with high speed and smoothness suggests a strong potential of SRLs to become future commonly used devices.