Towards the development of tactile sensors for determination of static friction coefficient to surfaces. - In: Microactuators and Micromechanisms, (2017), S. 39-48
http://dx.doi.org/10.1007/978-3-319-45387-3_4
Locomotion principles for microrobots based on vibrations. - In: Microactuators and Micromechanisms, (2017), S. 91-102
http://dx.doi.org/10.1007/978-3-319-45387-3_9
A novel gripper based on a compliant multistable tensegrity mechanism. - In: Microactuators and Micromechanisms, (2017), S. 115-126
http://dx.doi.org/10.1007/978-3-319-45387-3_11
Design and experimental characterization of a flexure hinge-based parallel four-bar mechanism for precision guides. - In: Microactuators and Micromechanisms, (2017), S. 139-152
http://dx.doi.org/10.1007/978-3-319-45387-3_13
Investigation of the Novelty brackets "Gold-S". - In: Microactuators and Micromechanisms, (2017), S. 199-211
http://dx.doi.org/10.1007/978-3-319-45387-3_18
A concept of adaptive two finger gripper with embedded actuators. - In: Microactuators and Micromechanisms, (2017), S. 239-250
http://dx.doi.org/10.1007/978-3-319-45387-3_21
Increasing the resolution of morphological 3D image data sets through image stitching: application to the temporal bone. - In: Computer methods in biomechanics and biomedical engineering, ISSN 2168-1171, Bd. 5 (2017), 6, S. 438-445
http://dx.doi.org/10.1080/21681163.2015.1137080
Towards the development of tactile sensors for surface texture detection. - In: InfoWare 2016, ISBN 978-1-61208-066-6, (2016), S. 33-38
Pre-curved beams as technical tactile sensors for object shape recognition. - In: InfoWare 2016, ISBN 978-1-61208-066-6, (2016), S. 7-12
Recent research topics in bionics focus on the analysis and synthesis of animal spatial perception of their environment by means of their tactile sensory organs: vibrissae and their follicles. Using the vibrissae, these mammals (e.g., rats) are able to determine an obstacle shape using only a few contacts of the vibrissa with the object. The investigations lead to the task of creating models and a stringent exploitation of these models in form of analytical and numerical calculations to achieve a better understanding of this sense. The sensing lever element vibrissa for the stimulus transmission is frequently modeled as an EulerBernoulli bending rod. We assume that the rod is one-sided clamped and interacts with a rigid obstacle in the plane. But, most of the literature is limited to the research on cylindrical and straight, or tapered and straight rods. The (natural) combination of a cylindrical and pre-curved shape is rarely analyzed. The aim is to determine the obstacles contour by one quasi-static sweep along the obstacle and to figure out the dependence on the precurvature of the rod. To do this, we proceed in several steps: At first, we have to determine the support reactions during a sweep. These support reactions are equate with the observables an animal solely relies on and have to be measured by a technical device. Then, the object shape has to be reconstructed in using only these generated observables. The consideration of the precurvature makes the analytical treatment a bit harder and results in numerical solutions of the process. But, the analysis of the problem results in an extension of a former decision criterion for the reconstruction by the radius of pre-curvature. Is is possible to determine a formula for the contact point of the rod with the profile, which is new in literature in context of pre-curvature.
Gait transition in artificial locomotion systems using adaptive control. - In: ICINCO 2016, (2016), S. 119-129