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A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study

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Interacting with Obstacles Using a Bio-Inspired, Flexible, Underactuated Multilink Manipulator.

Amit Prigozin¹, Amir Degani^1,2

¹Faculty of Civil and Environmental Engineering, Technion-Israel Institute of Technology, Haifa 3200003, Israel.

Biomimetics (Basel, Switzerland)

|February 23, 2024

Summary

This summary is machine-generated.

This study showcases a bio-inspired robotic manipulator capable of navigating obstacle-rich environments. The underactuated multilink design, using a single actuator, demonstrates robust performance in simulations and hardware experiments.

Keywords:

bioinspired and biomimetic robotics robot manipulation robotics soft robots

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Area of Science:

Robotics
Bio-inspired Engineering
Control Systems

Background:

Increasing demand for robotic manipulators in complex, obstacle-rich environments.
Need for adaptable designs that can navigate and interact with obstacles.
Limitations of traditional manipulators in unstructured settings.

Purpose of the Study:

Demonstrate the capabilities of a bio-inspired, underactuated multilink manipulator.
Evaluate performance in environments with fixed and movable obstacles.
Present a modeling and trajectory planning method for such systems.

Main Methods:

Developed a modeling method for flexible, underactuated multilink manipulators with obstacle interaction.
Implemented trajectory planning for fixed obstacle environments.
Analyzed manipulator robustness against state and obstacle position uncertainties.
Simulated and experimentally validated performance with movable obstacles and object pickup tasks.

Main Results:

Successfully modeled and simulated manipulator-obstacle interactions.
Demonstrated effective trajectory planning in cluttered workspaces.
Validated robustness against uncertainties.
Showcased successful object retrieval in obstacle-laden environments.
Hardware experiments confirmed simulation findings.

Conclusions:

The bio-inspired, underactuated multilink manipulator is effective in obstacle-rich environments.
The proposed modeling and planning methods are suitable for complex scenarios.
The system exhibits robustness and practical applicability for tasks like object manipulation.