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3D Bin Picking with an innovative powder filled gripper and a torque controlled collaborative robot
(2023)
A new and innovative powder filled gripper concept will be introduced to a process to pick parts out of a box without the use of a camera system which guides the robot to the part. The gripper is a combination of an inflatable skin, and a powder inside. In the unjammed condition, the powder is soft and can adjust to the geometry of the part which will be handled. By applying a vacuum to the inflatable skin, the powder gets jammed and transforms to a solid shaped form in which the gripper was brought before applying the vacuum. This physical principle is used to pick parts. The flexible skin of the gripper adjusts to all kinds of shapes, and therefore, can be used to realize 3D bin picking. With the help of a force controlled robot, the gripper can be pushed with a consistent force on flexible positions depending of the filling level of the box. A Kuka LBR iiwa with joint torque sensors in all of its seven axis’ was used to achieve a constant contact pressure. This is the basic criteria to achieve a robust picking process.
Sensors and actuators enable creation of context-aware applications in which applications can discover and take advantage of contextual information, such as user location, nearby people and objects. In this work, we use a general context definition, which can be applied to various devices, e.g., robots and mobile devices. Developing context-based software applications is considered as one of the most challenging application domains due to the sensors and actuators as part of a device. We introduce a new development approach for context-based applications by using use-case descriptions and Visual Programming Languages (VPL). The introduction of web-based VPLs, such as Scratch and Snap, has reinvigorated the usefulness of VPLs. We provide an in-depth discussion of our new VPL based method, a step by step development process to enable development of context-based applications. Two case studies illustrate how to apply our approach to different problem domains: Context-based mobile apps and context-based humanoid robot applications.
The main advantage of mobile context-aware applications is to provide effective and tailored services by considering the environmental context, such as location, time, nearby objects and other data, and adapting their functionality according to the changing situations in the context information without explicit user interaction. The idea behind Location-Based Services (LBS) and Object-Based Services (OBS) is to offer fully-customizable services for user needs according to the location or the objects in a mobile user's vicinity. However, developing mobile context-aware software applications is considered as one of the most challenging application domains due to the built-in sensors as part of a mobile device. Visual Programming Languages (VPL) and hybrid visual programming languages are considered to be innovative approaches to address the inherent complexity of developing programs. The key contribution of our new development approach for location and object-based mobile applications is a use case driven development approach based on use case templates and visual code templates to enable even programming beginners to create context-aware mobile applications. An example of the use of the development approach is presented and open research challenges and perspectives for further development of our approach are formulated.
Landing heel first has been associated with elevated external knee abduction moments (KAM), thereby potentially increasing the risk of sustaining a non-contact ACL injury. Apart from the foot strike angle, knee valgus angle (VAL) and vertical center of mass velocity at initial ground contact (IC) have been associated with increased KAM in females across different sidestep cuts. While real-time biofeedback training has been proven effective for gait retraining [4], the highly dynamic, non-cyclical nature of cutting maneuvers makes real-time feedback unsuitable and alternative approaches necessary. This study aimed at assessing the efficacy of immediate software-aided feedback on cutting technique in reducing KAM during handball-specific cutting maneuvers.
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.