Refine
Year of publication
Document Type
- Conference Proceeding (31)
- Article (reviewed) (6)
- Patent (4)
- Contribution to a Periodical (3)
- Article (unreviewed) (2)
- Part of a Book (1)
- Report (1)
Conference Type
- Konferenzartikel (29)
- Konferenz-Abstract (1)
- Sonstiges (1)
Language
- English (36)
- German (11)
- Other language (1)
Is part of the Bibliography
- yes (48)
Keywords
- energy harvesting (4)
- Funktechnik (3)
- Kommunikation (3)
- Robotics (3)
- Sicherheit (3)
- 3D printing (2)
- Applikation (2)
- Datensicherung (2)
- Human-Robot Collaboration (2)
- robot (2)
Institute
Open Access
- Closed Access (24)
- Open Access (11)
- Closed (9)
- Bronze (3)
- Gold (2)
In diesem Artikel werden die neuesten Entwicklungen in der Forschungsgruppe um Herrn Prof. Dr. Wendt vorgestellt. Es wird der Einsatz des neuen 3-D-Druckers der Firma Neotech, sowie die neuesten Entwicklungen im Leuchtturmprojekt Flitzmo beschrieben. Zudem konnte dieses Jahr mit dem Projekt zum Einsatz von Robotik im Bereich Assisted Living begonnen werden.
A novelty solution for controls of assistive technology represent the usage of eye tracking devices such as for smart wheelchairs and robotic arms [10, 4]. In this context usage supporting methods like artificial feedback are not well explored. Vibrotactile feedback has shown to be helpful to decrease the cognitive load on the visual and auditive channels and can provide a perception of touch [17]. People with severe limitations of motor functions could benefit from eye tracking controls supported with vibrotactile feedback. In this study fundamental results will be presented in the design of an appropriate vibrotactile feedback system for eye tracking applications. We will show that a perceivable vibrotactile stimulus has no significant effect on the accuracy and precision of a head worn eye tracking device. It is anticipated that the results of this paper will lead to new insights in the design of vibrotactile feedback for eye tracking applications and eye tracking controls.
Background: Assistive Robotic Arms are designed to assist physically disabled people with daily activities. Existing joysticks and head controls are not applicable for severely disabled people such as people with Locked-in Syndrome. Therefore, eye tracking control is part of ongoing research. The related literature spans many disciplines, creating a heterogeneous field that makes it difficult to gain an overview.
Objectives: This work focuses on ARAs that are controlled by gaze and eye movements. By answering the research questions, this paper provides details on the design of the systems, a comparison of input modalities, methods for measuring the performance of these controls, and an outlook on research areas that gained interest in recent years.
Methods: This review was conducted as outlined in the PRISMA 2020 Statement. After identifying a wide range of approaches in use the authors decided to use the PRISMA-ScR extension for a scoping review to present the results. The identification process was carried out by screening three databases. After the screening process, a snowball search was conducted.
Results: 39 articles and 6 reviews were included in this article. Characteristics related to the system and study design were extracted and presented divided into three groups based on the use of eye tracking.
Conclusion: This paper aims to provide an overview for researchers new to the field by offering insight into eye tracking based robot controllers. We have identified open questions that need to be answered in order to provide people with severe motor function loss with systems that are highly useable and accessible.
This work compares the performance of Bluetooth Mesh implementations on real chipsets against the ideal implementation of the specification. Measurements are taken in experimental settings and reveal non-idealities in the underlying Bluetooth Low Energy specification in real chipsets and in the implementation of Mesh, which introduces an unruly transmission as well as reception behavior. These effects lead to an impact on transmission rate, reception rate, latency, as well as a more significant impact on the average power consumption.
A novel Bluetooth Low Energy advertising scan algorithm is presented for hybrid radios that are additionally capable to measure energy on Bluetooth channels, e.g. as they would need to be compliant with IEEE 802.15.4. Scanners applying this algorithm can achieve a low latency whilst consuming only a fraction of the power that existing mechanisms can achieve at a similar latency. Furthermore, the power consumption can scale with the incoming network traffic and in contrast to the existing mechanisms, scanners can operate without any frame loss given ideal network conditions. The algorithm does not require any changes to advertisers, hence, stays compatible with existing devices. Performance evaluated via simulation and experiments on real hardware shows a 37 percent lower power consumption compared to the best existing scan setting while even achieving a slightly lower latency which proves that this algorithm can be used to improve the quality of service of connection-less Bluetooth communication or reduce the connection establishment time of connection-oriented communication.
We present a novel approach that utilizes BLE packets sent from generic BLE capable radios to synthesize an FSK-(like) addressable wake-up packet. A wake-up receiver system was developed from off-the-shelf components to detect these packets. It makes use of two differential signal paths separated by passive band-pass filters. After the rectification of each channel a differential amplifier compares the signals and the resulting wake-up signal is evaluated by an AS3933 wake-up receiver IC. Overall, the combination of these techniques contributes to a BLE compatible wake-up system which is more robust than traditional OOK wake-up systems. Thus, increasing wake-up range, while still maintaining a low energy budget. The proof-of-concept setup achieved a sensitivity of -47.8 dBm at a power consumption of 18.5 uW during passive listening. The system has a latency of 31.8 ms with a symbol rate of 1437 Baud.
3D printing offers customisation capabilities regarding suspensions for oscillators of vibration energy harvesters. Adjusting printing parameters or geometry allows to influence dynamic properties like resonance frequency or bandwidth of the oscillator. This paper presents simulation results and measurements for a spiral shaped suspension printed with polylactic acid (PLA) and different layer heights. Eigenfrequencies have been simulated and measured and damping ratios have been experimentally determined.
In this contribution, we present a novel 3D printed multi-material, electromagnetic vibration harvester. The harvester is based on a cantilever design and utilizes an embedded constantan wire within a matrix of polyethylene terephthalate glycol (PETG). A prototype has been manufactured with a combination of a fused filament fabrication (FFF) printer and a robot with a custom-made tool.
A Review on Kinetic Energy Harvesting with Focus on 3D Printed Electromagnetic Vibration Harvesters
(2021)
The increasing amount of Internet of Things (IoT) devices and wearables require a reliable energy source. Energy harvesting can power these devices without changing batteries. Three-dimensional printing allows us to manufacture tailored harvesting devices in an easy and fast way. This paper presents the development of hybrid and non-hybrid 3D printed electromagnetic vibration energy harvesters. Various harvesting approaches, their utilised geometry, functional principle, power output and the applied printing processes are shown. The gathered harvesters are analysed, challenges examined and research gaps in the field identified. The advantages and challenges of 3D printing harvesters are discussed. Reported applications and strategies to improve the performance of printed harvesting devices are presented.
The Human-Robot-Collaboration (HRC) has developed rapidly in recent years with the help of collaborative lightweight robots. An important prerequisite for HRC is a safe gripper system. This results in a new field of application in robotics, which spreads mainly in supporting activities in the assembly and in the care. Currently, there are a variety of grippers that show recognizable weaknesses in terms of flexibility, weight, safety and price.
By means of Additive manufacturing (AM) gripper systems can be developed which can be used multifunctionally, manufactured quickly and customized. In addition, the subsequent assembly effort can be reduced due to the integration of several components to a complex component. An important advantage of AM is the new freedom in designing products. Thus, components using lightweight design can be produced. Another advantage is the use of 3D multi-material printing, wherein a component with different material properties and also functions can be realized.
This contribution presents the possibilities of AM considering HRC requirements. First of all, the topic of Human-Robot-Interaction with regard to additive manufacturing will be explained on the basis of a literature review. In addition, the development steps of the HRI gripper through to assembly are explained. The acquired knowledge regarding the AM are especially emphasized here. Furthermore, an application example of the HRC gripper is considered in detail and the gripper and its components are evaluated and optimized with respect to their function. Finally, a technical and economic evaluation is carried out. As a result, it is possible to additively manufacture a multifunctional and customized human-robot collaboration gripping system. Both the costs and the weight were significantly reduced. Due to the low weight of the gripping system only a small amount of about 13% of the load of the robot used is utilized.