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This paper introduces a computationally efficient control scheme for safe human–robot interaction. The method relies on the Explicit Reference Governor (ERG) formalism to enforce input and state constraints in real-time, thus ensuring that the robot can safely operate in close proximity to humans. The resulting constrained control method can steer the robot arm to the desired end-effector pose (or a steady-state admissible approximation thereof) in the presence of actuator saturation, limited joint ranges, speed limits, static obstacles, and humans. The effectiveness of the proposed solution is supported by theoretical results and numerous experimental validations on the Franka Emika Panda robotic manipulator, a commercially available collaborative 7-DOF robot arm.
Kelly Merckaert; Bryan Convens; Chi-Ju Wu; Alessandro Roncone; Marco M. Nicotra; Bram Vanderborght. Real-time motion control of robotic manipulators for safe human–robot coexistence. Robotics and Computer-Integrated Manufacturing 2021, 73, 102223 .
AMA StyleKelly Merckaert, Bryan Convens, Chi-Ju Wu, Alessandro Roncone, Marco M. Nicotra, Bram Vanderborght. Real-time motion control of robotic manipulators for safe human–robot coexistence. Robotics and Computer-Integrated Manufacturing. 2021; 73 ():102223.
Chicago/Turabian StyleKelly Merckaert; Bryan Convens; Chi-Ju Wu; Alessandro Roncone; Marco M. Nicotra; Bram Vanderborght. 2021. "Real-time motion control of robotic manipulators for safe human–robot coexistence." Robotics and Computer-Integrated Manufacturing 73, no. : 102223.
In recent work, the thermoreversible Diels–Alder reaction between furan and maleimide functional groups has been studied extensively in the context of self-healing elastomers and thermosets. To elaborate the influence of the stoichiometric ratio between the maleimide and furan reactive groups on the thermomechanical properties and viscoelastic behavior of formed reversible covalent polymer networks, a series of Diels–Alder-based networks with different stoichiometric ratios was synthesized. Differential scanning calorimetry (DSC), dynamic mechanical analysis (DMA) and dynamic rheology measurements were performed on the reversible polymer networks, to relate the reversible network structure to the material properties and reactivity. Such knowledge allows the design and optimization of the thermomechanical behavior of the reversible networks for intended applications. Lowering the maleimide-to-furan ratio creates a deficit of maleimide functional groups, resulting in a decrease in the crosslink density of the system, and a consequent decrease in the glass transition temperature, Young’s modulus, and gel transition temperature. The excess of unreacted furan in the system results in faster reaction and healing kinetics and a shift of the reaction equilibrium.
Ali Safaei; Seppe Terryn; Bram Vanderborght; Guy Van Assche; Joost Brancart. The Influence of the Furan and Maleimide Stoichiometry on the Thermoreversible Diels–Alder Network Polymerization. Polymers 2021, 13, 2522 .
AMA StyleAli Safaei, Seppe Terryn, Bram Vanderborght, Guy Van Assche, Joost Brancart. The Influence of the Furan and Maleimide Stoichiometry on the Thermoreversible Diels–Alder Network Polymerization. Polymers. 2021; 13 (15):2522.
Chicago/Turabian StyleAli Safaei; Seppe Terryn; Bram Vanderborght; Guy Van Assche; Joost Brancart. 2021. "The Influence of the Furan and Maleimide Stoichiometry on the Thermoreversible Diels–Alder Network Polymerization." Polymers 13, no. 15: 2522.
This study investigates the effectiveness of a humanoid service robot (HSR) versus a tablet service kiosk (TSK) along the stages of the point-of-sale (POS) conversion funnel. The observational data gathered by means of a field experiment show that the HSR elicited 26 times more interactions (i.e., passersby touching the screen) than the TSK and that these interactions lasted almost +50% as long. Moreover, more people looked at the store and consequently entered it when the HSR was deployed. Furthermore, more unique transactions were registered, and a higher amount was spent during the days when the HSR was present in front of the store. This study proves that implementing an HSR in the store environment is more effective than a TSK in attracting passersby and converting them into buyers.
Malaika Brengman; Laurens De Gauquier; Kim Willems; Bram Vanderborght. From stopping to shopping: An observational study comparing a humanoid service robot with a tablet service kiosk to attract and convert shoppers. Journal of Business Research 2021, 134, 263 -274.
AMA StyleMalaika Brengman, Laurens De Gauquier, Kim Willems, Bram Vanderborght. From stopping to shopping: An observational study comparing a humanoid service robot with a tablet service kiosk to attract and convert shoppers. Journal of Business Research. 2021; 134 ():263-274.
Chicago/Turabian StyleMalaika Brengman; Laurens De Gauquier; Kim Willems; Bram Vanderborght. 2021. "From stopping to shopping: An observational study comparing a humanoid service robot with a tablet service kiosk to attract and convert shoppers." Journal of Business Research 134, no. : 263-274.
In recent years, soft pneumatic actuators have come into the spotlight because of their simple control and the wide range of complex motions. To monitor the deformation of soft robotic systems, elastomer-based sensors are being used. However, the embedding of sensors into soft actuator modules by polymer casting is time consuming and difficult to upscale. In this study, it is shown how a pneumatic bending actuator with an integrated sensing element can be produced using an extrusion-based additive manufacturing method, e.g., fused deposition modeling (FDM). The advantage of FDM against direct printing or robocasting is the significantly higher resolution and the ability to print large objectives in a short amount of time. New, commercial launched, pellet-based FDM printers are able to 3D print thermoplastic elastomers of low shore hardness that are required for soft robotic applications, to avoid high pressure for activation. A soft pneumatic actuator with the in situ integrated piezoresistive sensor element was successfully printed using a commercial styrene-based thermoplastic elastomer (TPS) and a developed TPS/carbon black (CB) sensor composite. It has been demonstrated that the integrated sensing elements could monitor the deformation of the pneumatic soft robotic actuator. The findings of this study contribute to extending the applicability of additive manufacturing for integrated soft sensors in large soft robotic systems.
Antonia Georgopoulou; Lukas Egloff; Bram Vanderborght; Frank Clemens. A Soft Pneumatic Actuator with Integrated Deformation Sensing Elements Produced Exclusively with Extrusion Based Additive Manufacturing. Engineering Proceedings 2021, 6, 11 .
AMA StyleAntonia Georgopoulou, Lukas Egloff, Bram Vanderborght, Frank Clemens. A Soft Pneumatic Actuator with Integrated Deformation Sensing Elements Produced Exclusively with Extrusion Based Additive Manufacturing. Engineering Proceedings. 2021; 6 (1):11.
Chicago/Turabian StyleAntonia Georgopoulou; Lukas Egloff; Bram Vanderborght; Frank Clemens. 2021. "A Soft Pneumatic Actuator with Integrated Deformation Sensing Elements Produced Exclusively with Extrusion Based Additive Manufacturing." Engineering Proceedings 6, no. 1: 11.
Soft pneumatic actuators with a channel network (pneu-net) based on thermoplastic elastomers are compatible with fused deposition modeling (FDM). However, conventional filament-based fused deposition modeling (FDM) printers are not well suited for thermoplastic elastomers with a shore hardness (Sh < 70A). Therefore, in this study, a pellet-based FDM printer was used to print pneumatic actuators with a shore hardness of Sh18A. Additionally, the method allowed the in situ integration of soft piezoresistive sensing elements during the fabrication. The integrated piezoresistive elements were based on conductive composites made of three different styrene-ethylene-butylene-styrene (SEBS) thermoplastic elastomers, each with a carbon black (CB) filler with a ratio of 1:1. The best sensor behavior was achieved by the SEBS material with a shore hardness of Sh50A. The dynamic and quasi-static sensor behavior were investigated on SEBS strips with integrated piezoresistive sensor composite material, and the results were compared with TPU strips from a previous study. Finally, the piezoresistive composite was used for the FDM printing of soft pneumatic actuators with a shore hardness of 18 A. It is worth mentioning that 3 h were needed for the fabrication of the soft pneumatic actuator with an integrated strain sensing element. In comparison to classical mold casting method, this is faster, since curing post-processing is not required and will help the industrialization of pneumatic actuator-based soft robotics.
Antonia Georgopoulou; Lukas Egloff; Bram Vanderborght; Frank Clemens. A Sensorized Soft Pneumatic Actuator Fabricated with Extrusion-Based Additive Manufacturing. Actuators 2021, 10, 102 .
AMA StyleAntonia Georgopoulou, Lukas Egloff, Bram Vanderborght, Frank Clemens. A Sensorized Soft Pneumatic Actuator Fabricated with Extrusion-Based Additive Manufacturing. Actuators. 2021; 10 (5):102.
Chicago/Turabian StyleAntonia Georgopoulou; Lukas Egloff; Bram Vanderborght; Frank Clemens. 2021. "A Sensorized Soft Pneumatic Actuator Fabricated with Extrusion-Based Additive Manufacturing." Actuators 10, no. 5: 102.
Sensing pressure at the physical interface between the robot and the human has important implications for wearable robots. On the one hand, monitoring pressure distribution can give valuable benefits on the aspects of comfortability and safety of such devices. Additionally, on the other hand, they can be used as a rich sensory input to high level interaction controllers. However, a problem is that the commercial availability of this technology is mostly limited to either low-cost solutions with poor performance or expensive options, limiting the possibilities for iterative designs. As an alternative, in this manuscript we present a three-dimensional (3D) printed flexible capacitive pressure sensor that allows seamless integration for wearable robotic applications. The sensors are manufactured using additive manufacturing techniques, which provides benefits in terms of versatility of design and implementation. In this study, a characterization of the 3D printed sensors in a test-bench is presented after which the sensors are integrated in an upper arm interface. A human-in-the-loop calibration of the sensors is then shown, allowing to estimate the external force and pressure distribution that is acting on the upper arm of seven human subjects while performing a dynamic task. The validation of the method is achieved by means of a collaborative robot for precise force interaction measurements. The results indicate that the proposed sensors are a potential solution for further implementation in human–robot interfaces.
Kevin Langlois; Ellen Roels; Gabriël Van De Velde; Cláudia Espadinha; Christopher Van Vlerken; Tom Verstraten; Bram Vanderborght; Dirk Lefeber. Integration of 3D Printed Flexible Pressure Sensors into Physical Interfaces for Wearable Robots. Sensors 2021, 21, 2157 .
AMA StyleKevin Langlois, Ellen Roels, Gabriël Van De Velde, Cláudia Espadinha, Christopher Van Vlerken, Tom Verstraten, Bram Vanderborght, Dirk Lefeber. Integration of 3D Printed Flexible Pressure Sensors into Physical Interfaces for Wearable Robots. Sensors. 2021; 21 (6):2157.
Chicago/Turabian StyleKevin Langlois; Ellen Roels; Gabriël Van De Velde; Cláudia Espadinha; Christopher Van Vlerken; Tom Verstraten; Bram Vanderborght; Dirk Lefeber. 2021. "Integration of 3D Printed Flexible Pressure Sensors into Physical Interfaces for Wearable Robots." Sensors 21, no. 6: 2157.
Industrial robots can collide due to malfunctioning, wrong user input or unforeseen changes in the environment in which they operate. Different solutions exist to minimize the damage caused by a collision, either absorbed by the environment or by the robot itself. The specific solution depends on the type, size and dynamics of the robot. For high-speed industrial robots, the challenge is in dealing with the large kinetic energy upon impact without compromising the dynamic response during normal operation. The Combined Friction Cam Clutch (CFCC) is proposed as a solution for this problem. We provide a custom mechanical design and derive equations to calculate the threshold and residual torque which are identified as key design metrics. The concept is validated experimentally on a test bench using a prototype of the set-up.
Frederik Ostyn; Tom Lefebvre; Bram Vanderborght; Guillaume Crevecoeur. Overload Clutch Design for Collision Tolerant High–Speed Industrial Robots. IEEE Robotics and Automation Letters 2021, 6, 863 -870.
AMA StyleFrederik Ostyn, Tom Lefebvre, Bram Vanderborght, Guillaume Crevecoeur. Overload Clutch Design for Collision Tolerant High–Speed Industrial Robots. IEEE Robotics and Automation Letters. 2021; 6 (2):863-870.
Chicago/Turabian StyleFrederik Ostyn; Tom Lefebvre; Bram Vanderborght; Guillaume Crevecoeur. 2021. "Overload Clutch Design for Collision Tolerant High–Speed Industrial Robots." IEEE Robotics and Automation Letters 6, no. 2: 863-870.
Robots have been used in joint attention (JA) tasks with children with autism spectrum disorder (ASD). However, very few studies compared JA performance of children with ASD with typically developing children (TD) when interacting with a robotic partner and a traditional human partner. This study aims to: (a) to explore whether there are differences in response to and initiation of JA between ASD and TD children with two interactive partners: an adult and a social robot (NAO); and (b) to explore which characteristics of ASD children predicting their performance in robot-assisted JA tasks. Twenty-seven ASD and forty TD children were involved in this study in which they were exposed to diffident JA tasks. Mixed results were found per type of JA behavior over groups and conditions. Our results show that both ASD and TD children performed better with the human partner than with the robot in response to JA tasks. Among the characteristics of ASD children, ADOS total score is associated with response to JA performance. No significant result related to initiation of JA was found.
Hoang-Long Cao; Ramona Elena Simut; Naomi Desmet; Albert De Beir; Greet Van De Perre; Bram Vanderborght; Johan Vanderfaeillie. Robot-Assisted Joint Attention: A Comparative Study Between Children With Autism Spectrum Disorder and Typically Developing Children in Interaction With NAO. IEEE Access 2020, 8, 223325 -223334.
AMA StyleHoang-Long Cao, Ramona Elena Simut, Naomi Desmet, Albert De Beir, Greet Van De Perre, Bram Vanderborght, Johan Vanderfaeillie. Robot-Assisted Joint Attention: A Comparative Study Between Children With Autism Spectrum Disorder and Typically Developing Children in Interaction With NAO. IEEE Access. 2020; 8 (99):223325-223334.
Chicago/Turabian StyleHoang-Long Cao; Ramona Elena Simut; Naomi Desmet; Albert De Beir; Greet Van De Perre; Bram Vanderborght; Johan Vanderfaeillie. 2020. "Robot-Assisted Joint Attention: A Comparative Study Between Children With Autism Spectrum Disorder and Typically Developing Children in Interaction With NAO." IEEE Access 8, no. 99: 223325-223334.
Bram VanderBorght. Looking Back and Looking Forward [From the Editor?s Desk]. IEEE Robotics & Automation Magazine 2020, 27, 4 -8.
AMA StyleBram VanderBorght. Looking Back and Looking Forward [From the Editor?s Desk]. IEEE Robotics & Automation Magazine. 2020; 27 (4):4-8.
Chicago/Turabian StyleBram VanderBorght. 2020. "Looking Back and Looking Forward [From the Editor?s Desk]." IEEE Robotics & Automation Magazine 27, no. 4: 4-8.
Healable soft robotic systems have been developed by constructing flexible membranes out of Diels?Alder (DA) polymer networks. In these components, relatively large amounts of damage, on the centimeter scale, can be healed, provided that the temperature is increased to 80?90 ?C. This article presents a new DA polymer network that can heal at room temperature through a smart design of the network that increases the molecular mobility in the material. This new material is used to develop the first healable soft robotic prototype that can autonomously recover from severe, realistic damage. The soft pneumatic hand can recover from various types of injuries, including being cut completely in half, without the need for a temperature increase. After healing, the performance of the soft robotic prototype is recovered.
Seppe Terryn; Joost Brancart; Ellen Roels; Guy Van Assche; Bram Vanderborght. Room Temperature Self-Healing in Soft Pneumatic Robotics: Autonomous Self-Healing in a Diels-Alder Polymer Network. IEEE Robotics & Automation Magazine 2020, 27, 44 -55.
AMA StyleSeppe Terryn, Joost Brancart, Ellen Roels, Guy Van Assche, Bram Vanderborght. Room Temperature Self-Healing in Soft Pneumatic Robotics: Autonomous Self-Healing in a Diels-Alder Polymer Network. IEEE Robotics & Automation Magazine. 2020; 27 (4):44-55.
Chicago/Turabian StyleSeppe Terryn; Joost Brancart; Ellen Roels; Guy Van Assche; Bram Vanderborght. 2020. "Room Temperature Self-Healing in Soft Pneumatic Robotics: Autonomous Self-Healing in a Diels-Alder Polymer Network." IEEE Robotics & Automation Magazine 27, no. 4: 44-55.
Physical human-robot interfaces are a challenging aspect of exoskeleton design, mainly due to the fact that interfaces tend to migrate relatively to the body leading to discomfort and power losses. Therefore, the key is to develop interfaces that optimize attachment stiffness, i.e. reduce relative motion, without compromising comfort. To that end, we propose a method to obtain the optimal attachment pressure in terms of connection stiffness and comfort. The method is based on a soft robotic interface capable of actively controlling strapping pressure which is coupled to a cobot. Hereby the effects of strapping pressure on energetic losses, connection stiffness, and perceived comfort are analyzed. Results indicate a trade-off between connection stiffness and perceived comfort for this type of interface. An optimal strapping pressure was found in the 50 to 80 mmHg range. Connection stiffness was found to increase linearly over a pressure range from 0 mmHg (stiffness of 1139 N/m) to 100 mmHg (stiffness of 2232 N/m). And energetic losses were reduced by 42% by increasing connection stiffness. This research highlights the importance of strapping pressure when attaching an exoskeleton to a human and introduces a new adaptive interface to improve the coupling from an exoskeleton to an individual.
Kevin Langlois; David Rodriguez-Cianca; Ben Serrien; Joris De Winter; Tom Verstraten; Carlos Rodriguez-Guerrero; Bram Vanderborght; Dirk Lefeber. Investigating the Effects of Strapping Pressure on Human-Robot Interface Dynamics Using a Soft Robotic Cuff. IEEE Transactions on Medical Robotics and Bionics 2020, 3, 146 -155.
AMA StyleKevin Langlois, David Rodriguez-Cianca, Ben Serrien, Joris De Winter, Tom Verstraten, Carlos Rodriguez-Guerrero, Bram Vanderborght, Dirk Lefeber. Investigating the Effects of Strapping Pressure on Human-Robot Interface Dynamics Using a Soft Robotic Cuff. IEEE Transactions on Medical Robotics and Bionics. 2020; 3 (1):146-155.
Chicago/Turabian StyleKevin Langlois; David Rodriguez-Cianca; Ben Serrien; Joris De Winter; Tom Verstraten; Carlos Rodriguez-Guerrero; Bram Vanderborght; Dirk Lefeber. 2020. "Investigating the Effects of Strapping Pressure on Human-Robot Interface Dynamics Using a Soft Robotic Cuff." IEEE Transactions on Medical Robotics and Bionics 3, no. 1: 146-155.
The field of self-healing soft robots was initiated a few years ago. A healing ability can be integrated in soft robots by manufacturing their soft membranes out of synthetic self-healing polymers, more specifically elastomeric Diels–Alder (DA) networks. As such they can recover completely from macroscopic damage, including scratches, cuts, and ruptures. Before this research, these robots were manufactured using a technique named “shaping-through-folding-and-self-healing.” This technique requires extensive manual labor, is relatively slow, and does not allow for complex shapes. In this article, an additive manufacturing methodology, fused filament fabrication, is developed for the thermoreversible DA polymers, and the approach is validated on a soft robotic gripper. The reversibility of their network permits manufacturing these flexible self-healing polymers through reactive printing into the complex shapes required in soft robotics. The degree of freedom in the design of soft robotics that this new manufacturing technique offers is illustrated through the construction of adaptive DHAS gripper fingers, based on the design by FESTO. Being constructed out of self-healing soft flexible polymer, the fingers can recover entirely from large cuts, tears, and punctures. This is highlighted through various damage–heal cycles.
Ellen Roels; Seppe Terryn; Joost Brancart; Robrecht Verhelle; Guy Van Assche; Bram Vanderborght. Additive Manufacturing for Self-Healing Soft Robots. Soft Robotics 2020, 7, 711 -723.
AMA StyleEllen Roels, Seppe Terryn, Joost Brancart, Robrecht Verhelle, Guy Van Assche, Bram Vanderborght. Additive Manufacturing for Self-Healing Soft Robots. Soft Robotics. 2020; 7 (6):711-723.
Chicago/Turabian StyleEllen Roels; Seppe Terryn; Joost Brancart; Robrecht Verhelle; Guy Van Assche; Bram Vanderborght. 2020. "Additive Manufacturing for Self-Healing Soft Robots." Soft Robotics 7, no. 6: 711-723.
Due to the epochal changes introduced by “Industry 4.0”, it is getting harder to apply the varying approaches for biomechanical risk assessment of manual handling tasks used to prevent work-related musculoskeletal disorders (WMDs) considered within the International Standards for ergonomics. In fact, the innovative human–robot collaboration (HRC) systems are widening the number of work motor tasks that cannot be assessed. On the other hand, new sensor-based tools for biomechanical risk assessment could be used for both quantitative “direct instrumental evaluations” and “rating of standard methods”, allowing certain improvements over traditional methods. In this light, this Letter aims at detecting the need for revising the standards for human ergonomics and biomechanical risk assessment by analyzing the WMDs prevalence and incidence; additionally, the strengths and weaknesses of traditional methods listed within the International Standards for manual handling activities and the next challenges needed for their revision are considered. As a representative example, the discussion is referred to the lifting of heavy loads where the revision should include the use of sensor-based tools for biomechanical risk assessment during lifting performed with the use of exoskeletons, by more than one person (team lifting) and when the traditional methods cannot be applied. The wearability of sensing and feedback sensors in addition to human augmentation technologies allows for increasing workers’ awareness about possible risks and enhance the effectiveness and safety during the execution of in many manual handling activities.
Alberto Ranavolo; Arash Ajoudani; Andrea Cherubini; Matteo Bianchi; Lars Fritzsche; Sergio Iavicoli; Massimo Sartori; Alessio Silvetti; Bram VanderBorght; Tiwana Varrecchia; Francesco Draicchio. The Sensor-Based Biomechanical Risk Assessment at the Base of the Need for Revising of Standards for Human Ergonomics. Sensors 2020, 20, 5750 .
AMA StyleAlberto Ranavolo, Arash Ajoudani, Andrea Cherubini, Matteo Bianchi, Lars Fritzsche, Sergio Iavicoli, Massimo Sartori, Alessio Silvetti, Bram VanderBorght, Tiwana Varrecchia, Francesco Draicchio. The Sensor-Based Biomechanical Risk Assessment at the Base of the Need for Revising of Standards for Human Ergonomics. Sensors. 2020; 20 (20):5750.
Chicago/Turabian StyleAlberto Ranavolo; Arash Ajoudani; Andrea Cherubini; Matteo Bianchi; Lars Fritzsche; Sergio Iavicoli; Massimo Sartori; Alessio Silvetti; Bram VanderBorght; Tiwana Varrecchia; Francesco Draicchio. 2020. "The Sensor-Based Biomechanical Risk Assessment at the Base of the Need for Revising of Standards for Human Ergonomics." Sensors 20, no. 20: 5750.
Compliant actuators: Variable stiffness actuators (when no controlled damping), soft actuators A Variable Impedance Actuator (VIA) is an actuator with dedicated elements that decouple the motor...
Bram VanderBorght; Sebastian Wolf; Giorgio Grioli. Variable Impedance Actuators. Encyclopedia of Robotics 2020, 1 -8.
AMA StyleBram VanderBorght, Sebastian Wolf, Giorgio Grioli. Variable Impedance Actuators. Encyclopedia of Robotics. 2020; ():1-8.
Chicago/Turabian StyleBram VanderBorght; Sebastian Wolf; Giorgio Grioli. 2020. "Variable Impedance Actuators." Encyclopedia of Robotics , no. : 1-8.
Fast and accurate gait phase detection is essential to achieve effective powered lower-limb prostheses and exoskeletons. As the versatility but also the complexity of these robotic devices increases, the research on how to make gait detection algorithms more performant and their sensing devices smaller and more wearable gains interest. A functional gait detection algorithm will improve the precision, stability, and safety of prostheses, and other rehabilitation devices. In the past years the state-of-the-art has advanced significantly in terms of sensors, signal processing, and gait detection algorithms. In this review, we investigate studies and developments in the field of gait event detection methods, more precisely applied to prosthetic devices. We compared advantages and limitations between all the proposed methods and extracted the relevant questions and recommendations about gait detection methods for future developments.
Huong Thi Thu Vu; Dianbiao Dong; Hoang-Long Cao; Tom Verstraten; Dirk Lefeber; Bram VanderBorght; Joost Geeroms. A Review of Gait Phase Detection Algorithms for Lower Limb Prostheses. Sensors 2020, 20, 3972 .
AMA StyleHuong Thi Thu Vu, Dianbiao Dong, Hoang-Long Cao, Tom Verstraten, Dirk Lefeber, Bram VanderBorght, Joost Geeroms. A Review of Gait Phase Detection Algorithms for Lower Limb Prostheses. Sensors. 2020; 20 (14):3972.
Chicago/Turabian StyleHuong Thi Thu Vu; Dianbiao Dong; Hoang-Long Cao; Tom Verstraten; Dirk Lefeber; Bram VanderBorght; Joost Geeroms. 2020. "A Review of Gait Phase Detection Algorithms for Lower Limb Prostheses." Sensors 20, no. 14: 3972.
The manufacturing industry is among the top wealth generating sectors of the global economy and accounted for 15.3% and 10%, respectively, of the total European and American workforce in 2018 [1], [2]. Despite its crucial role, manufacturing is facing a critical challenge based on a reduction of skilled labor availability. This trend is impos- ing a bottleneck on growth due to the demands of an increasingly competitive market. The aging workforce is not helping this shortfall either, as the available workforce is less able to perform burdensome industrial tasks in an efficient and productive manner.
Arash Ajoudani; Philipp Albrecht; Matteo Bianchi; Andrea Cherubini; Simona Del Ferraro; Philippe Fraisse; Lars Fritzsche; Manolo Garabini; Alberto Ranavolo; Patricia Helen Rosen; Massimo Sartori; Nikos Tsagarakis; Bram VanderBorght; Sascha Wischniewski. Smart Collaborative Systems for Enabling Flexible and Ergonomic Work Practices [Industry Activities]. IEEE Robotics & Automation Magazine 2020, 27, 169 -176.
AMA StyleArash Ajoudani, Philipp Albrecht, Matteo Bianchi, Andrea Cherubini, Simona Del Ferraro, Philippe Fraisse, Lars Fritzsche, Manolo Garabini, Alberto Ranavolo, Patricia Helen Rosen, Massimo Sartori, Nikos Tsagarakis, Bram VanderBorght, Sascha Wischniewski. Smart Collaborative Systems for Enabling Flexible and Ergonomic Work Practices [Industry Activities]. IEEE Robotics & Automation Magazine. 2020; 27 (2):169-176.
Chicago/Turabian StyleArash Ajoudani; Philipp Albrecht; Matteo Bianchi; Andrea Cherubini; Simona Del Ferraro; Philippe Fraisse; Lars Fritzsche; Manolo Garabini; Alberto Ranavolo; Patricia Helen Rosen; Massimo Sartori; Nikos Tsagarakis; Bram VanderBorght; Sascha Wischniewski. 2020. "Smart Collaborative Systems for Enabling Flexible and Ergonomic Work Practices [Industry Activities]." IEEE Robotics & Automation Magazine 27, no. 2: 169-176.
In new-generation soft robots, the actuation performance can be increased by using multiple materials in the actuator designs. However, the lifetime of these actuators is often limited due to failure that occurs at the weak multi-material interfaces that rely almost entirely on physical interactions and where stress concentration appears during actuation. This paper proposes to develop soft pneumatic actuators out of multiple Diels–Alder polymers that can generate strong covalent bonds at the multi-material interface by means of a heat–cool cycle. Through tensile testing it is proven that high interfacial strength can be obtained between two merged Diels–Alder polymers. This merging principle is exploited in the manufacturing of multi-material bending soft pneumatic actuators in which interfaces are no longer the weakest links. The applicability of the actuators is illustrated by their operation in a soft hand and a soft gripper demonstrator. In addition, the use of Diels–Alder polymers incorporates healability in bending actuators. It is experimentally illustrated that full recovery of severe damage can be obtained by subjecting the multi-material actuators to a healing cycle.
Seppe Terryn; Ellen Roels; Joost Brancart; Guy Van Assche; Bram VanderBorght. Self-Healing and High Interfacial Strength in Multi-Material Soft Pneumatic Robots via Reversible Diels–Alder Bonds. Actuators 2020, 9, 34 .
AMA StyleSeppe Terryn, Ellen Roels, Joost Brancart, Guy Van Assche, Bram VanderBorght. Self-Healing and High Interfacial Strength in Multi-Material Soft Pneumatic Robots via Reversible Diels–Alder Bonds. Actuators. 2020; 9 (2):34.
Chicago/Turabian StyleSeppe Terryn; Ellen Roels; Joost Brancart; Guy Van Assche; Bram VanderBorght. 2020. "Self-Healing and High Interfacial Strength in Multi-Material Soft Pneumatic Robots via Reversible Diels–Alder Bonds." Actuators 9, no. 2: 34.
Dianbiao Dong; Wenjie Ge; Bryan Convens; Yuanxi Sun; Tom Verstraten; Bram VanderBorght. Design, Optimization and Energetic Evaluation of an Efficient Fully Powered Ankle-Foot Prosthesis With a Series Elastic Actuator. IEEE Access 2020, 8, 61491 -61503.
AMA StyleDianbiao Dong, Wenjie Ge, Bryan Convens, Yuanxi Sun, Tom Verstraten, Bram VanderBorght. Design, Optimization and Energetic Evaluation of an Efficient Fully Powered Ankle-Foot Prosthesis With a Series Elastic Actuator. IEEE Access. 2020; 8 ():61491-61503.
Chicago/Turabian StyleDianbiao Dong; Wenjie Ge; Bryan Convens; Yuanxi Sun; Tom Verstraten; Bram VanderBorght. 2020. "Design, Optimization and Energetic Evaluation of an Efficient Fully Powered Ankle-Foot Prosthesis With a Series Elastic Actuator." IEEE Access 8, no. : 61491-61503.
The assembly industry is shifting more towards customizable products, or requiring assembly of small batches. This requires a lot of reprogramming, which is expensive because a specialized engineer is required. It would be an improvement if untrained workers could help a cobot to learn an assembly sequence by giving advice. Learning an assembly sequence is a hard task for a cobot, because the solution space increases drastically when the complexity of the task increases. This work introduces a novel method where human knowledge is used to reduce this solution space, and as a result increases the learning speed. The method proposed is the IRL-PBRS method, which uses Interactive Reinforcement Learning (IRL) to learn from human advice in an interactive way, and uses Potential Based Reward Shaping (PBRS), in a simulated environment, to focus learning on a smaller part of the solution space. The method was compared in simulation to two other feedback strategies. The results show that IRL-PBRS converges more quickly to a valid assembly sequence policy and does this with the fewest human interactions. Finally, a use case is presented where participants were asked to program an assembly task. Here, the results show that IRL-PBRS learns quickly enough to keep up with advice given by a user, and is able to adapt online to a changing knowledge base.
Joris De Winter; Albert De Beir; Ilias El Makrini; Greet Van De Perre; Ann Nowe; Bram Vanderborght. Accelerating Interactive Reinforcement Learning by Human Advice for an Assembly Task by a Cobot. Robotics 2019, 8, 104 .
AMA StyleJoris De Winter, Albert De Beir, Ilias El Makrini, Greet Van De Perre, Ann Nowe, Bram Vanderborght. Accelerating Interactive Reinforcement Learning by Human Advice for an Assembly Task by a Cobot. Robotics. 2019; 8 (4):104.
Chicago/Turabian StyleJoris De Winter; Albert De Beir; Ilias El Makrini; Greet Van De Perre; Ann Nowe; Bram Vanderborght. 2019. "Accelerating Interactive Reinforcement Learning by Human Advice for an Assembly Task by a Cobot." Robotics 8, no. 4: 104.
Maintaining engagement is challenging in human–human interaction. When disengagements happen, people try to adapt their behavior with an expectation that engagement will be regained. In human–robot interaction, although socially interactive robots are engaging, people can easily drop engagement while interacting with robots. This paper proposes a multi-layer re-engagement system that applies different strategies through human-like verbal and non-verbal behaviors to regain user engagement, taking into account the user’s attention level and affective states. We conducted a usability test in a robot storytelling scenario to demonstrate technical operation of the system as well as to investigate how people react when interacting with a robot with re-engagement ability. Our usability test results reveal that the system has the potential to maintain a user’s engagement. Our selected users gave positive comments, through open-ended questions, to the robot with this ability. They also rated the robot with the re-engagement ability higher on several dimensions, i.e., animacy, likability, and perceived intelligence.
Hoang-Long Cao; Paola Cecilia Torrico Moron; Pablo G. Esteban; Albert De Beir; Elahe Bagheri; Dirk Lefeber; Bram Vanderborght. “Hmm, Did You Hear What I Just Said?”: Development of a Re-Engagement System for Socially Interactive Robots. Robotics 2019, 8, 95 .
AMA StyleHoang-Long Cao, Paola Cecilia Torrico Moron, Pablo G. Esteban, Albert De Beir, Elahe Bagheri, Dirk Lefeber, Bram Vanderborght. “Hmm, Did You Hear What I Just Said?”: Development of a Re-Engagement System for Socially Interactive Robots. Robotics. 2019; 8 (4):95.
Chicago/Turabian StyleHoang-Long Cao; Paola Cecilia Torrico Moron; Pablo G. Esteban; Albert De Beir; Elahe Bagheri; Dirk Lefeber; Bram Vanderborght. 2019. "“Hmm, Did You Hear What I Just Said?”: Development of a Re-Engagement System for Socially Interactive Robots." Robotics 8, no. 4: 95.