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Your search keyword '"Chua, Ping Yong"' showing total 6 results
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6 results on '"Chua, Ping Yong"'

1. 23 DOF anthropomorphic robotic hand with high resolution spatio-temporal tactile sensing

Author

Chua, Ping Yong

Subjects
629.892
Abstract

General purpose robot end-effectors are fast, accurate and on occasions flexible, but inherently narrow in the tasks they perform. In endeavouring to mimic the human hand (the most dexterous end-effector), a tele-operated 5 fingered, 23 degree of freedom (DOF) dexterous anthropomorphic robotic hand has been designed, constructed and tested. This hand is biomimetically actuated by 20 braided pneumatic Muscle Actuators (pMAs). The thesis shows the structured development of this complex anthropomorphic robotics structure, a method of taking advantage of the inherent nature of the pMAs which weakens linearly as it contracts, a system of transmitting power from pMAs to the joints in the robotic hand, a novel method of demonstrating the dexterity and speed of the robotic hand and development of a micro-controller (μC) based pMA controller.

Published
2006

3. 'Soft' actuation for dextrous hands – a 23 DOF anthropomorphic hand powered by pneumatic muscle actuators

Author

Caldwell, Darwin G., Chua, Ping Yong, and Amran, Mohd Zaid

Subjects
Engineering and manufacturing industries, Science and technology
Abstract

Byline: Darwin G. Caldwell, Ping Yong Chua, Mohd Zaid Amran The human hand with its complex anatomical and sensory structures forms an exceptional end-effector that is capable of performing countless grasping, exploratory, manipulative and prehensile tasks. Key to the effective operation of this 'hand', in terms of strength, compliance, compactness, speed of finger motions and the safe, secure handling needed to minimise potential damage to the grasped object and the hand itself, is the actuation. This paper describes the design, construction and testing of a 23 DOF robotic dextrous end-effector powered by powerful, yet compliant and accurate braided pneumatic Muscle Actuator (pMA)s. The paper discusses the control and drive systems and shows the hand performing a number of complex manipulative tasks involving dexterity and power and concludes by demonstrating that the hand can perform high speed tele-operated catching operations.

Published
2008

4. Dynamic sensing in mimicking cutaneous mechanoreceptors - 3D sensor applying reception by vision

Author

Chua Ping Yong

Subjects
CMOS, Pixel, Video Graphics Array, Computer science, business.industry, ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, Robot vision systems, Computer vision, Artificial intelligence, 3d sensor, business, Tactile sensor
Abstract

a tactile sensor (3×3 array of spring loaded probes) applying mechano-reception by vision was developed. The sensor is novel in its application of a miniature CMOS VGA camera to measure the change in apparent size of miniature pin heads which is directly related to depth discrimination. It has a depth resolution of 50µm.

Published
2009

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