Bibliographic record
Abstract
RESUME Les robots a architecture anthropomorphique, c’est-a-dire inspiree des mecanismes du corps humain, sont des outils qui pourraient etre d’une grande utilite dans le domaine de la robotique de readaptation et d’assistance etant donne l’aspect intuitif, relativement a leur fonctionnement et leur comportement, que leur apporte leur forme familiere. Toutefois, les robots anthropomorphiques actuellement existants sont generalement developpes dans le cadre d’applications particulieres et ne sont par consequent pas appropries pour un transfert vers le domaine de la robotique d’assistance et de readaptation. Par consequent, il n’existe pas de plateforme de developpement robotique permettant le developpement d’applications mettant a profit au maximum une architecture biomimetique pour des usagers sans formation en robotique comme les cliniciens en readaptation et les beneficiaires de robots d’assistance. Dans ce contexte, l’objectif de ce memoire est de concevoir une plateforme robotique a architecture anthropomorphique suivant le plus fidelement possible l’architecture du bras humain pour maximiser l’apport intuitif de la forme familiere de l’appareil pour son fonctionnement et son interaction avec son environnement. Particulierement, un effort est applique pour inclure dans le mecanisme la structure a deux os de l’avant-bras afin de rendre possible une reproduction realiste du mouvement de pronation-supination du bras, le mouvement le plus complexe du membre superieur puisqu'il implique une boucle cinematique fermee et de nombreux joints passifs. En premier lieu, un modele biomecanique du membre superieur a ete choisi pour repondre a la problematique, puis ses caracteristiques principales ont ete specifiees. La chaine cinematique du modele biomecanique a par la suite ete traduite en chaine cinematique pour un robot, en s’assurant que chacun des sous-mecanismes reproduise bien les caracteristiques soulignees du modele. Ces mecanismes ont permis de faire les plans entier du manipulateur robotique a l’aide d’un logiciel de dessin assiste par ordinateur. Afin de choisir les actionneurs necessaires au fonctionnement du robot, une simulation de suivi de trajectoire avec controle par couple pre-calcule a ete elaboree. Les modeles cinematiques et dynamiques du bras, etant necessaires a la simulation, ont ete developpes. Enfin, un prototype de la plateforme a ete concu par impression 3D. En comparant les plages angulaires accessibles aux differents joints du mecanisme a celles des joints du modele biomecanique, il a ete determine que le bras pourrait reproduire toute la gamme des mouvements humains pour laquelle la position de l’epaule est pres de la position de repos.----------ABSTRACT Bio-inspired robots, more specifically, anthropomorphic robots, would be very suitable tools for assistance and rehabilitation robotics because they are, by design, very familiar and intuitive-looking both visually and in their behavior, which is ideal in a field where most users, such as patients and clinicians, do not possess an advanced knowledge of robotics. However, previously developed anthropomorphic robots are not well-suited for a direct use in such applications since they were generally designed for other industrial applications which makes them cumbersome and complex to use. It is not ideal for use in assistance robotics. Moreover, none of them actually correctly mimics the two-bones structure of the arm-forearm complex of the human arm and thus the designs are not biofidelic. Therefore, there is currently no robotic development platform dedicated to anthropomorphic robotics for the field of rehabilitation and assistance. Given this context, the objective of this study is to design the first robotic development platform with an anthropomorphic architecture which reproduces as best as possible the biomechanics of the human upper-limb for intuitive control and interaction. Specifically, the mechanism of the robotic arm will include the two-bones structure of the forearm for an accurate replication of the motion of pronation-supination, which is the most intricate motion of the arm. First, a biomechanical model of the upper-limb was chosen to fit the objective of the project and its key characteristics were analysed. This model was then translated into a robotic kinematic chain whose sub-mechanisms mimic the highlighted characteristics of the biomechanical model. The designed mechanisms were then included in a complete computer-assisted drawing of the robot. The choice of actuators on the robot was made based on the results of a path-following by computed-torque simulation of the robot, which required the kinematic and dynamic models of the robot to be developed. Finally, a physical prototype of the robot was built using rapid prototyping. Comparing the range of motion of each of its actuators, it appeared that the robot arm should be able to imitate accurately any human motion of the arm for which the shoulder is close to its resting position. Applications and research in rehabilitation and assistance robotics where accurate reproduction of the human motion of the arm is necessary. For example, determining the mathematical optimization criterion for humanlike path-planning can now be performed with the designed robot.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.001 | 0.001 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.002 | 0.000 |
| Research integrity | 0.001 | 0.002 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".