http://yetl.yabesh.ir/yetl1/handle/yetl/4303704 2026-08-31T11:34:26Z http://yetl.yabesh.ir/yetl1/handle/yetl/4315456 Energy-Aware Planning for Legged Robot Performing Logistics Tasks in Agriculture Applications Chen, Shengqiang; Chen, Yiyu; Huang, Ruopeng; Nguyen, Quan; Gupta, Satyandra K. Abstract. Legged robots can significantly increase human productivity by performing delivery tasks, especially in unstructured agricultural fields. In large outdoor environments, legged robots typically operate independently from tethered power sources, relying on onboard batteries. If a robot runs out of energy while executing a task, it will require human intervention, resulting in delays. On the other hand, frequent battery recharging or replacement could prolong task completion times. This article presents a systematic framework to enhance productivity for logistic tasks. The framework features a map construction utility, an energy consumption model to measure battery usage, and an energy-aware hierarchical planning approach that accounts for energy consumption and integrates appropriate battery replacement strategies to ensure that tasks are completed efficiently. Our algorithm first generates different scenarios, considering battery replacement options, payload partitioning, and speed reduction strategies. Subsequently, it employs graph search methods to identify the optimal plan that minimizes delivery completion time. We illustrate the effectiveness of our planning approach on a terrain with varying slopes and delivery tasks with different requirements. We also demonstrated that our robot can successfully traverse narrow furrows in broccoli and cabbage farms. 2026-01-01T00:00:00Z http://yetl.yabesh.ir/yetl1/handle/yetl/4315453 Biologically Inspired Stair-Climbing Mechanism With Enhanced Safety and Comfort Thamel, Sampath; Munasinghe, S. R. Abstract. A sense of independence is critical for individuals with mobility impairments, with stair negotiation remaining one of the most demanding daily tasks. This article presents a novel track-based stair-climbing mechanism inspired by leech locomotion, designed to enhance adaptability to varying staircase geometries. The mechanism emulates leech-like motion during both ascent and descent, decomposing each maneuver into multiple segments to ensure stable posture and safety. Throughout motion, the mechanism maintains a large contact surface with the stairs, improving stability. Simulation and experimental studies validate the effectiveness of the proposed motion, particularly during transitions at the top and bottom of the staircase. Results demonstrate that the motion profile reduces abrupt movements and improves user comfort during stair-climbing operation. 2026-01-01T00:00:00Z http://yetl.yabesh.ir/yetl1/handle/yetl/4315431 The SCF-EM Gripper: Using Sleeved Concentric-Flexures Eversion Mechanisms as Fingers for Confined-Space Robotic Grasping Huisjes, A. E.; Herder, J. L. Abstract. This article presents the specially developed sleeved concentric-flexure eversion mechanism (SCF-EM) gripper, which employs specially developed SCF-EM as fingers for grasping in confined spaces, with a focus on food handling applications. The gripper minimizes environmental disturbance by moving its fingers tangentially along an object’s surface while setting the grasp, in contrast to conventional grippers that approach perpendicularly. Each SCF-EM finger features an eversion sleeve actuated by two concentrically placed precurved flexures between its inner and outer sides, synchronized via a cable–pulley system. This constitutes as a mechanically actuated eversion mechanism–driven not by pneumatic pressure, as in traditional designs, but by advancing an internal flexure from its base to push against the sleeve interior. A prototype gripper, equipped with three SCF-EM fingers, was manufactured for grasping tomatoes piled in a crate. To evaluate its performance, three key metrics were defined and experimentally validated. The results show (1) a 100% grasp success rate for the specified task, demonstrated on a robotic test setup, (2) low induced disturbance forces—1.7 N normal and 1.5 N tangential—sufficiently gentle to avoid product damage, and (3) a 10.0 N pull-out force, ample for lifting tomatoes, corresponding to 4–10× their weight. These results demonstrate the SCF-EM gripper’s effectiveness for delicate object handling in confined environments and highlight the potential of mechanically driven eversion mechanisms. 2026-01-01T00:00:00Z http://yetl.yabesh.ir/yetl1/handle/yetl/4315429 Pilot Site Evaluations of Exoskeletons at Small- and Medium-Sized Enterprises for Usability and Acceptance Enhancement Rafique, Sajid; Musso, Matteo; Pitz, Imke; Russmann, Christoph; Lassen, Astrid Heidemann; Bai, Shaoping Abstract. Exoskeletons have emerged as a promising solution to mitigate musculoskeletal disorders (MSDs) in industries characterized by repetitive or physically demanding tasks. While the technology can benefit small- and medium-sized enterprises (SMEs) and smaller industrial sectors, where the level of automation is low and many tasks must be performed manually, their adaptation and integration remain slow. To address this gap, the EU EXSKALLERATE research project focused on accelerating the adoption of upper-body exoskeletons within SMEs and construction companies, aiming to foster awareness, innovation, and collaboration. This article presents the findings from the EXSKALLERATE field study, which tested six passive upper-body industrial exoskeletons across four EU countries, including Sweden, Denmark, Germany, and the Netherlands. The study involved onsite demonstrations of different exoskeletons, including the EksoVest, Skelex, and Laevo. Instead of comparing exoskeletons used across different countries and industrial environments, this study concentrates on evaluating how effectively each device supports workers during real-world tasks. Qualitative feedback was obtained from participants across diverse industries, including construction, manufacturing, and logistics, highlighting both the benefits and limitations of each model. Feedback emphasized the ergonomic advantages of these devices in reducing musculoskeletal strain, particularly in repetitive overhead and bending tasks; however, some users reported issues with comfort and mobility. The findings aim to encourage these sectors to consider adopting passive upper-body exoskeletons as part of their efforts to reduce MSD risks, improve worker well-being, and enhance overall productivity. By presenting practical recommendations and insights, this study provides a valuable resource for industries considering the integration of exoskeletons and offers a roadmap for further advancements in their design and deployment. Ultimately, it calls for continued efforts to promote exoskeleton use, ensuring their positive impact on workplace safety, productivity, and worker health in SMEs and beyond. 2026-01-01T00:00:00Z