The concept, working principle, design equations, main mechanisms and prototype construction of the 2DCP are first presented in this paper. The 2DCP includes one coupled DoF: the input and output port rotations, kinematically linked by the implemented transmission ratio, and a passive, decoupled, DoF that allows to change their relative orientations, i.e. This paper presents the conceptual development and experimental validation of a novel cable-pulley system, the two-degree-of-freedom Cable-Pulley (2DCP) transmission, that, in contrast to common systems, allows to change the transmission angle between its input and output ports.
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Additionally, they can be especially interesting in wearable robotic applications, such as exoskeletons, which benefit from the implementation of kinematic redundancy to compensate for joint mis-alignment and guarantee full human-robot kinematic compatibility. Transmission systems with the ability to decouple the motion of several degrees of freedom (DoFs) can provide a solution for the coupling problem that arises between the joints of a kinematic chain when following a remote actuation approach. We also identify the general shortcomings and highlight the points that cause a gap in existing literature while defining future research directions. In particular, multi-dimensional adaptive attack taxonomy is presented and utilized for evaluating real-life ICPS cyber incidents. This paper bridges this gap by defining and reviewing ICPSs from a cybersecurity perspective. Although there are existing surveys in this context, very little is mentioned regarding these reports. Industrial vulnerability assessment reports have shown that a variety of new vulnerabilities have occurred due to this transition while the most common ones are related to weak boundary protection.
As the interconnectivity in ICPSs increases, so does the attack surface. Hence, the "security by obscurity" principle provided by air-gapping is no longer followed. Recent innovations in ubiquitous computing and communication technologies have prompted the rapid integration of highly interconnected systems to ICPSs. Industrial cyber-physical systems (ICPSs) manage critical infrastructures by controlling the processes based on the "physics" data gathered by edge sensor networks. Finally, we identify the general shortcomings and highlight the points that cause a gap in existing literature while defining future research directions. We bridge this gap by defining and reviewing ICPSs from a cybersecurity perspective. Hence, finding a solution for the problems mentioned in these reports is relatively hard. However, current literature focuses on intrusion detection systems (IDS), network traffic analysis (NTA) methods, or anomaly detection techniques. While these reports show that the most exploited vulnerabilities occur due to weak boundary protection, these vulnerabilities also occur due to limited or ill defined security policies. Although there are existing surveys in this context, very little is mentioned regarding the outputs of these reports. Industrial vulnerability assessment reports have shown that a variety of new vulnerabilities have occurred due to this transition.
Hence, the “security by obscurity” principle provided by air-gapping is no longer followed. Industrial cyber-physical systems (ICPSs) manage critical infrastructures by controlling the processes based on the “physics” data gathered by edge sensor networks. The result is a highly efficient, backdrivable, high-ratio gearbox with exciting potential in Human-Robot Collaboration. Testing five different gearbox prototypes, we confirm the ability of the R2poweR technology to improve efficiency and backdrivability while retaining the weight and control advantages derived from the use of high reduction ratios. This paper presents the proof-of-concept validation of a novel high-ratio, Wolfrom-based, gearbox technology that follows a different approach to attain the same objective. Alternative approaches include Direct-Drive and Quasi Direct-Drive actuation strategies, which propose to cancel or substantially reduce gear ratio, in order to minimize reflected inertia and attain the backdrivability required for collaborative tasks. Available technologies comprise high-ratio Planetary Gearheads, Cycloid Drives, and Harmonic Drives, inherited from conventional industrial robotics. Robotic engineers face today major challenges to solve the complex actuation needs of Human-Robot Collaboration using existing compact robotic gearboxes.
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