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Robotics applications are greatly needed in hazardous locations, e.g., fusion and fission reactors, where robots must perform delicate and complex tasks under ionizing radiation conditions. The drawback is that some robotic parts, such as active electronics, are susceptible to radiation. It can lead to unexpected failures and early termination of the robotic operation. This paper analyses the ionizing radiation effect from 0.09 to 1.5 Gy/s in robotic components (microcontrollers, servo motors and temperature sensors). The first experiment compares the performance of various microcontroller types and their actuators and sensors, where different mitigation strategies are applied, such as using Radiation-Hardened (Rad-Hard) microcontrollers or shielding. The second and third experiments analyze the performance of a 3-Degrees of Freedom (DoF) robotic arm, evaluating its componentsʼ responses and trajectory. This study enhances our understanding and expands our knowledge regarding radiationʼs impact on robotic arms and components, which is useful for defining the best strategies for extending the robotsʼ operational lifespan, especially when performing maintenance or inspection tasks in radiation environments.

Exoskeletons are wearable robotic devices that surround the anatomy of the user to work in tandem with it. Depending on their structure, exoskeletons can be classified as rigid or flexible. The structure of flexible exoskeletons is made of soft materials, such as fabrics, which adapt to user motion. Therefore, these devices are prone to becoming misaligned with the user, due to improper fitting and slipping of the exoskeleton components on the user body. This article describes a cable-driven exosuit, called LUXBIT, that favors its anatomical adaption to the user by arranging the fabric fibers and sewing patterns to transfer the mobilizing forces. This prototype integrates a novel deformable mechanism that promotes the natural lifting of the arm. LUXBIT is intended for bimanual assistance in daily living, being equipped with a backpack to this end. The results analyzed in this article show that LUXBIT reduces muscle activity in the upper limbs’ flexion by ratios of up to 13.17% and allows the user to hold tiring postures for 62.91% longer.

A portable mechatronic rehabilitation system easily adaptable to different situations—e.g., different body members, training modes and physical spaces—using Internet of Things communication and designed applying a methodology based on user requirements, named SARPA, is developed. Bedridden patients, i.e., those who stay in bed for long periods, often have diseases due to immobility. Conventional rehabilitation to mobility recovery is conducted by therapists who present humanly limited strength characteristics (force, speed, etc.), mainly if the patient is overweight. Mechatronic rehabilitation systems aim to optimize comfort, cost, force, and time to the user, i.e., the patient and therapist pair. However, in general, these systems are conceived to execute just one training mode on just one determined body member in the lower or upper limb. Therefore, a different system is often required for a different training mode or body member. Using SARPA, users may select a body member (among lower or upper limb), an active (isokinetic, isotonic, or isometric), or passive mode and configure it according to a specific therapy. SARPA is configured through a Human Machine Interface based on the Internet of Things, with characteristics that may exceed the values of a human-made conventional rehabilitation. The SARPA flexibility allows several rehabilitation options using a single system. Through SARPA, it would be possible to program games or competitions among patients using the Internet of Things technology, improving their mood and autonomy level during therapeutic sessions. In this paper, it is presented the SARPA system design methodology—based on user requirements, construction and preliminary applications in a hospital.

This paper establishes an approach to external force estimation for telerobotic control in radioactive environments by the use of an identified manipulator model and pressure sensors, without employing a force/torque sensor. The advantages of - and need for - force feedback have been well-established in the field of telerobotics, where electrical and back-drivable manipulators have traditionally been used. This research proposes a methodology employing hydraulic robots for telerobotics tasks based on a model identification scheme. Comparative results of a force sensor and the proposed approach using a hydraulic telemanipulator are presented under different conditions. This approach not only presents a cost effective solution but also a methodology for force estimation in radioactive environments, where the dose rates limit the use of electronic devices such as sensing equipment.

Large scientific facilities such as particle accelerators are scenarios that require continuous maintenance and specific type of interventions. The intervening personnel are sometimes required to work exposed to residual radiation. The inclusion of robotic systems into these environmental conditions are being encouraged to increase the availability of the facility and reduce personal radiation doses. However, this scenario presents challenging conditions for robotic systems in terms of structural, equipment and environmental conditions. This paper addresses the design of a modular robotic system as an alternative to conventional robots to overcome the challenges. This work also explores the various capabilities of the design along with its future possibilities. The SMART heterogeneous modular robot systems, prototype and simulation results are presented.

In the maintenance of large scientific facilities, telemanipulation procedures can involve various subprocedures which in turn are made up of a sequence of subtasks. This work presents a taxonomy which describes a set of elemental actions for heavy-duty telemanipulation, along with an example of these actions in a standard maintenance subprocedure. As maintenance tasks are often very different at high-level, this generalized way of deconstructing tasks allows a highly adaptable approach to describe the sequence of any procedure, which can then be used for such applications as task monitoring, automation or detection of incomplete tasks. We describe in detail the properties of each elemental action and apply the taxonomy to an example subprocedure to show how the process can be generalizable. An automatic state-machine creation stage is shown, which would be used at the task scheduling stage to simplify calculations carried out during the moment-by-moment execution of the task.

Understanding the radio signal transmission characteristics in the environment where the telerobotic application is sought is a key part of achieving a reliable wireless communication link between a telerobot and a control station. In this paper, wireless communication requirements and a case study of a typical telerobotic application in an underground facility at CERN are presented. Then, the theoretical and experimental characteristics of radio propagation are investigated with respect to time, distance, location and surrounding objects. Based on analysis of the experimental findings, we show how a commercial wireless system, such as Wi-Fi, can be made suitable for a case study application at CERN.