This paper describes a novel Home Lift, Position, and Rehabilitation (HLPR) Chair, designed at National Institute of Standards and Technology (NIST), to provide independent patient mobility for indoor tasks, such as moving to and placing... more
This paper describes a novel Home Lift, Position, and Rehabilitation (HLPR) Chair, designed at National Institute of Standards and Technology (NIST), to provide independent patient mobility for indoor tasks, such as moving to and placing a person on a toilet or bed, and lift assistance for tasks, such as accessing kitchen or other tall shelves. These functionalities are currently out
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This paper explores winch-driven cable systems---in particular, cable-based Stewart platform machines---as candidates for reconfigurable, large-scale, manufacturing systems. Cable-based systems are less expensive and more compact for a... more
This paper explores winch-driven cable systems---in particular, cable-based Stewart platform machines---as candidates for reconfigurable, large-scale, manufacturing systems. Cable-based systems are less expensive and more compact for a given range of motion and are more lightweight and easier to reconfigure than large scale systems that use ballscrews and ways. Thus, cable-based machines are appealing as an economical choice for applications that require a large range of motion, such as aircraft or ship manufacturing and construction
ABSTRACT Service robots are becoming an integral part of daily life, entering even the most complex scenarios, yet at a slower pace than previously anticipated. This paper presents an overview of the changing area of robotics and the new... more
ABSTRACT Service robots are becoming an integral part of daily life, entering even the most complex scenarios, yet at a slower pace than previously anticipated. This paper presents an overview of the changing area of robotics and the new challenges being faced. The case is made for all stakeholders to focus on the bottlenecks preventing the realization of the mass markets in robotics expected since the late 1990s. Some of the key issues are discussed and possible strategies analysed to allow the emerging service robotics sector to reach its full potential. The goal is to create a unified vision and good working relationships with the key players throughout the world, active in both robotics R&D and robotics standardization. This paper presents an overview of these activities and provides suggestions for future plans. Along these lines, example cases of industrial, personal service, and medical robots are presented to highlight the desired development directions.
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The RoboCrane is a cable driven, multi-purpose manipulator based on the Stewart Platform Parallel Link Manipulator. It provides six degree-of-freedom load control via teleoperative, graphic off-line programming, and hybrid control modes.... more
The RoboCrane is a cable driven, multi-purpose manipulator based on the Stewart Platform Parallel Link Manipulator. It provides six degree-of-freedom load control via teleoperative, graphic off-line programming, and hybrid control modes. Originally, the RoboCrane was developed under a Defense Advanced Research Project Agency (DARPA) contract to stabilize loads on conventional cranes. Cur- rently, configurations have advanced to include land, sea, air-lifted, and space applications. It can be designed for high lift-to-weight ratio, stable gantry configurations, flexibility, precise maneuverabil- ity, and mobility over a variety of surfaces including very rough terrain. As part of the NIST mission, the Intelligent Systems Division provides research in, develops methods for, and applies intelligent systems technology to improve U.S. industry competitiveness (1) relating to manufacturing, includ- ing large scale manufacturing, such as: building, airstrip, bridge, and ship construction. The Rob- oCrane provides an intelligent machine enhancement or alternative to current construction methods.
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In this paper1, we describe the mobile robot and sensor research and development toward assistive devices ongoing at the National Institute of Standards and Technology (NIST). Through mobility research projects, NIST has been studying... more
In this paper1, we describe the mobile robot and sensor research and development toward assistive devices ongoing at the National Institute of Standards and Technology (NIST). Through mobility research projects, NIST has been studying advanced sensor navigation technology for indoor mobile robots and a novel Home Lift, Position, and Rehabilitation (HLPR) Chair. This assistive device can provide independent patient mobility
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A lunar version of the Robocrane is being developed at the Robot Systems Division of the National Institute of Standards and Technology (NIST) to address the needs of NASA researchers. The NIST robot, called ROBOCRANE, has three-pairs of... more
A lunar version of the Robocrane is being developed at the Robot Systems Division of the National Institute of Standards and Technology (NIST) to address the needs of NASA researchers. The NIST robot, called ROBOCRANE, has three-pairs of rigged legs instead of actuators to create a gantry. The legs are joined in a Stewart Platform configuration providing a means for
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The Office of Naval Research has sponsored a collaborative effort between the Naval Surface Warfare Center Carderock Division, Advanced
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The Robot Systems Division of the National Institute of Standards and Technology (NIST) has been experimenting for several years with new concepts for robot cranes. These concepts utilize the basic idea of the Stewart platform parallel... more
The Robot Systems Division of the National Institute of Standards and Technology (NIST) has been experimenting for several years with new concepts for robot cranes. These concepts utilize the basic idea of the Stewart platform parallel link manipulator. The unique feature of the ...
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The National Institute of Standards ,and ,Technology’s (NIST) Intelligent Systems Division (ISD) is working,with the material handling industry, specifically on automated guided vehicles, to develop next generation vehicles. ISD isalso,a... more
The National Institute of Standards ,and ,Technology’s (NIST) Intelligent Systems Division (ISD) is working,with the material handling industry, specifically on automated guided vehicles, to develop next generation vehicles. ISD isalso,a participant ,in the ,Defense Advanced ,Research Project Agency ,(DARPA) Learning Applied to Ground Robots (LAGR) Project embedding ,learning algorithms into the modules,that make,up the,Four Dimensional/Real- Time Control System (4D/RCS).
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The National Institute of Standards and Technology's (NIST) Intelligent Systems Division (ISD) is a par- ticipant in the Defense Advanced Research Project Agency (DARPA) LAGR (Learning Applied to Ground Robots) Project. The NIST... more
The National Institute of Standards and Technology's (NIST) Intelligent Systems Division (ISD) is a par- ticipant in the Defense Advanced Research Project Agency (DARPA) LAGR (Learning Applied to Ground Robots) Project. The NIST team's objective for the LAGR Project is to insert learning algorithms into the modules that make up the 4D/RCS (Four Dimensional/Real-Time Control System), the standard reference model
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... Students in FGCU Engineering and Computer Science programs, Jeremiah Johnson, JoshGallegos and Jaime Zabala are gratefully acknowledged for their contribution to this work. REFERENCES [1] Pollack M., Intelligent Technology for an... more
... Students in FGCU Engineering and Computer Science programs, Jeremiah Johnson, JoshGallegos and Jaime Zabala are gratefully acknowledged for their contribution to this work. REFERENCES [1] Pollack M., Intelligent Technology for an Aging Population, AI Magazine, pp. ...
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This paper presents a new cable-suspended robot. It is a 7-cable spatial design with a closed-form forward pose kinematics solution. Applications include automated machining, construction, and sculpting. This paper presents two new ideas.... more
This paper presents a new cable-suspended robot. It is a 7-cable spatial design with a closed-form forward pose kinematics solution. Applications include automated machining, construction, and sculpting. This paper presents two new ideas. First, an independent, passive, six- string-pot-based Cartesian metrology system was built and tested since length measurements through the active drive system may be inaccurate for large-scale systems.
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There are over 1 million forklifts in operation in the United States with an estimated 2 million operators (6 million including part time operators) [Chugh] and nearly 2 000 automated guided vehicles (AGVs) in use in the US. Forklifts are... more
There are over 1 million forklifts in operation in the United States with an estimated 2 million operators (6 million including part time operators) [Chugh] and nearly 2 000 automated guided vehicles (AGVs) in use in the US. Forklifts are a necessary piece of material handling equipment for many industries. If used properly, they can reduce employee injuries. Unfortunately, they
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A second major effort is currently underway toward the development of vehicles with autonomous capabilities. The Autonomous Land Vehicle and Advanced Ground Vehicle Technology programs highlighted the first efforts in autonomous vehicles.... more
A second major effort is currently underway toward the development of vehicles with autonomous capabilities. The Autonomous Land Vehicle and Advanced Ground Vehicle Technology programs highlighted the first efforts in autonomous vehicles. The second push is fueled by the Office of the Secretary of Defense's (OSD) Unmanned Ground Vehicle (UGV) program. The Surrogate Teleoperated Vehicle and Demo I programs have
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ABSTRACT This paper describes a novel Home Lift, Position, and Rehabilitation (HLPR) Chair, designed at National Institute of Standards and Technology (NIST), to provide independent patient mobility for indoor tasks, such as moving to and... more
ABSTRACT This paper describes a novel Home Lift, Position, and Rehabilitation (HLPR) Chair, designed at National Institute of Standards and Technology (NIST), to provide independent patient mobility for indoor tasks, such as moving to and placing a person on ...
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... Roger Bostelman, Ji-Chul Ryu, Tommy Chang, Joshua Johnson, Sunil K. Agrawal. ... Even though medical devices are developing at a rapid pace today, an aspect that is often overlooked in these developments is adherence to rider safety... more
... Roger Bostelman, Ji-Chul Ryu, Tommy Chang, Joshua Johnson, Sunil K. Agrawal. ... Even though medical devices are developing at a rapid pace today, an aspect that is often overlooked in these developments is adherence to rider safety standards. The contributions of this ...
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The Home Lift, Position and Rehabilitation (HLPR) Chair, developed at the National Institute of Standards and Technology (NIST) within the Intelligent Systems Division (ISD) from 2005 to 2006, is currently being evaluated for static... more
The Home Lift, Position and Rehabilitation (HLPR) Chair, developed at the National Institute of Standards and Technology (NIST) within the Intelligent Systems Division (ISD) from 2005 to 2006, is currently being evaluated for static stability using computer aided design. The HLPR Chair has a unique shape as compared to conventional wheelchairs and powered chairs. Therefore, evaluation of its stability is