4,380 research outputs found
Design of a man-wearable control station for a robotic rescue system
This report details the design, development, and testing of a man-wearable operator control station for the use of a low-cost robotic system in Urban Search and Rescue (USAR). The complete system, dubbed the "Scarab", is the 1st generation developed and built in the Robotics and Agents Research Laboratory (RARL) at the University of Cape Town (UCT), and was a joint effort between three MSc students. Robots have found a place in USAR as replaceable units which can be deployed into dangerous and confined voids in the place of humans. As such, they have been utilized in a large variety of disaster environments including ground, aerial, and underwater scenarios, and have been gathering research momentum since their first documented deployment in the rescue operations surrounding the 9/11 terrorist attacks. However one issue is their cost as they are not economical solutions, making them less viable for inclusion into a rescue mission as well as negatively affecting the operator‟s decisions in order to prioritise the safety of the unit. Another concern is their difficulty of transport, which becomes dependent on the size and portability of the robot. As such, the Scarab system was conceived to provide a deployable robotic platform which was lowcost, with a budget goal of US $ 500. To address the transportability concerns, it aimed to be portable and light-weight; being able to be thrown through a window by a single hand and withstanding a drop height of 3 m. It includes an internal sensor payload which incorporates an array of sensors and electronics, including temperature monitors and two cameras to provide both a normal and IR video feed. Two LED spotlights are used for navigation, and a microphone and buzzer is included for interaction with any discovered survivors. The operator station acts as the user interface between the operator and the robotic platform. It aimed to be as intuitive as possible, providing quick deployment and minimalizing the training time required for its operation. To further enhance the Scarab system‟s portability, it was designed to be a manwearable system, allowing the operator to carry the robotic platform on their back. It also acts as a charging station, supplying power to the robotic platform‟s on-board charging circuitry. The control station‟s mechanical chassis serves as the man-wearable component of the system, with the functionality being achieved by integration onto a tactical vest. This allows the operator to take the complete system on and off as a single unit without assistance, and uses two mounting brackets to dock the robotic platform. Key areas focussed upon during design were the weight and accessibility of the system, as well as providing a rugged housing for the internal electronics. All parts were manufactured in the UCT Mechanical Engineering workshop
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Intuitive Human-Machine Interfaces for Non-Anthropomorphic Robotic Hands
As robots become more prevalent in our everyday lives, both in our workplaces and in our homes, it becomes increasingly likely that people who are not experts in robotics will be asked to interface with robotic devices. It is therefore important to develop robotic controls that are intuitive and easy for novices to use. Robotic hands, in particular, are very useful, but their high dimensionality makes creating intuitive human-machine interfaces for them complex. In this dissertation, we study the control of non-anthropomorphic robotic hands by non-roboticists in two contexts: collaborative manipulation and assistive robotics.
In the field of collaborative manipulation, the human and the robot work side by side as independent agents. Teleoperation allows the human to assist the robot when autonomous grasping is not able to deal sufficiently well with corner cases or cannot operate fast enough. Using the teleoperator’s hand as an input device can provide an intuitive control method, but finding a mapping between a human hand and a non-anthropomorphic robot hand can be difficult, due to the hands’ dissimilar kinematics. In this dissertation, we seek to create a mapping between the human hand and a fully actuated, non-anthropomorphic robot hand that is intuitive enough to enable effective real-time teleoperation, even for novice users.
We propose a low-dimensional and continuous teleoperation subspace which can be used as an intermediary for mapping between different hand pose spaces. We first propose the general concept of the subspace, its properties and the variables needed to map from the human hand to a robot hand. We then propose three ways to populate the teleoperation subspace mapping. Two of our mappings use a dataglove to harvest information about the user's hand. We define the mapping between joint space and teleoperation subspace with an empirical definition, which requires a person to define hand motions in an intuitive, hand-specific way, and with an algorithmic definition, which is kinematically independent, and uses objects to define the subspace. Our third mapping for the teleoperation subspace uses forearm electromyography (EMG) as a control input.
Assistive orthotics is another area of robotics where human-machine interfaces are critical, since, in this field, the robot is attached to the hand of the human user. In this case, the goal is for the robot to assist the human with movements they would not otherwise be able to achieve. Orthotics can improve the quality of life of people who do not have full use of their hands. Human-machine interfaces for assistive hand orthotics that use EMG signals from the affected forearm as input are intuitive and repeated use can strengthen the muscles of the user's affected arm. In this dissertation, we seek to create an EMG based control for an orthotic device used by people who have had a stroke. We would like our control to enable functional motions when used in conjunction with a orthosis and to be robust to changes in the input signal.
We propose a control for a wearable hand orthosis which uses an easy to don, commodity forearm EMG band. We develop an supervised algorithm to detect a user’s intent to open and close their hand, and pair this algorithm with a training protocol which makes our intent detection robust to changes in the input signal. We show that this algorithm, when used in conjunction with an orthosis over several weeks, can improve distal function in users. Additionally, we propose two semi-supervised intent detection algorithms designed to keep our control robust to changes in the input data while reducing the length and frequency of our training protocol
Laser Graphics in Augmented Reality Applications for Real- World Robot Deployment
Lasers are powerful light source. With their thin shafts of bright light and colours, laser beams can provide a dazzling display matching that of outdoor fireworks. With computer assistance, animated laser graphics can generate eye-catching images against a dark sky. Due to technology constraints, laser images are outlines without any interior fill or detail. On a more functional note, lasers assist in the alignment of components, during installation
Healthcare Robotics
Robots have the potential to be a game changer in healthcare: improving
health and well-being, filling care gaps, supporting care givers, and aiding
health care workers. However, before robots are able to be widely deployed, it
is crucial that both the research and industrial communities work together to
establish a strong evidence-base for healthcare robotics, and surmount likely
adoption barriers. This article presents a broad contextualization of robots in
healthcare by identifying key stakeholders, care settings, and tasks; reviewing
recent advances in healthcare robotics; and outlining major challenges and
opportunities to their adoption.Comment: 8 pages, Communications of the ACM, 201
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