An intelligent, free-flying robot

The ground based demonstration of the extensive extravehicular activity (EVA) Retriever, a voice-supervised, intelligent, free flying robot, is designed to evaluate the capability to retrieve objects (astronauts, equipment, and tools) which have accidentally separated from the Space Station. The major objective of the EVA Retriever Project is to design, develop, and evaluate an integrated robotic hardware and on-board software system which autonomously: (1) performs system activation and check-out; (2) searches for and acquires the target; (3) plans and executes a rendezvous while continuously tracking the target; (4) avoids stationary and moving obstacles; (5) reaches for and grapples the target; (6) returns to transfer the object; and (7) returns to base

Virtual acoustics displays

The real time acoustic display capabilities are described which were developed for the Virtual Environment Workstation (VIEW) Project at NASA-Ames. The acoustic display is capable of generating localized acoustic cues in real time over headphones. An auditory symbology, a related collection of representational auditory 'objects' or 'icons', can be designed using ACE (Auditory Cue Editor), which links both discrete and continuously varying acoustic parameters with information or events in the display. During a given display scenario, the symbology can be dynamically coordinated in real time with 3-D visual objects, speech, and gestural displays. The types of displays feasible with the system range from simple warnings and alarms to the acoustic representation of multidimensional data or events

Perceptual telerobotics

A sensory world modeling system, congruent with a human expert's perception, is proposed. The Experiential Knowledge Base (EKB) system can provide a highly intelligible communication interface for telemonitoring and telecontrol of a real time robotic system operating in space. Paradigmatic acquisition of empirical perceptual knowledge, and real time experiential pattern recognition and knowledge integration are reviewed. The cellular architecture and operation of the EKB system are also examined

Reflexive obstacle avoidance for kinematically-redundant manipulators

Dexterous telerobots incorporating 17 or more degrees of freedom operating under coordinated, sensor-driven computer control will play important roles in future space operations. They will also be used on Earth in assignments like fire fighting, construction and battlefield support. A real time, reflexive obstacle avoidance system, seen as a functional requirement for such massively redundant manipulators, was developed using arm-mounted proximity sensors to control manipulator pose. The project involved a review and analysis of alternative proximity sensor technologies for space applications, the development of a general-purpose algorithm for synthesizing sensor inputs, and the implementation of a prototypical system for demonstration and testing. A 7 degree of freedom Robotics Research K-2107HR manipulator was outfitted with ultrasonic proximity sensors as a testbed, and Robotics Research's standard redundant motion control algorithm was modified such that an object detected by sensor arrays located at the elbow effectively applies a force to the manipulator elbow, normal to the axis. The arm is repelled by objects detected by the sensors, causing the robot to steer around objects in the workspace automatically while continuing to move its tool along the commanded path without interruption. The mathematical approach formulated for synthesizing sensor inputs can be employed for redundant robots of any kinematic configuration

Space Station Freedom automation and robotics: An assessment of the potential for increased productivity

This report presents the results of a study performed in support of the Space Station Freedom Advanced Development Program, under the sponsorship of the Space Station Engineering (Code MT), Office of Space Flight. The study consisted of the collection, compilation, and analysis of lessons learned, crew time requirements, and other factors influencing the application of advanced automation and robotics, with emphasis on potential improvements in productivity. The lessons learned data collected were based primarily on Skylab, Spacelab, and other Space Shuttle experiences, consisting principally of interviews with current and former crew members and other NASA personnel with relevant experience. The objectives of this report are to present a summary of this data and its analysis, and to present conclusions regarding promising areas for the application of advanced automation and robotics technology to the Space Station Freedom and the potential benefits in terms of increased productivity. In this study, primary emphasis was placed on advanced automation technology because of its fairly extensive utilization within private industry including the aerospace sector. In contrast, other than the Remote Manipulator System (RMS), there has been relatively limited experience with advanced robotics technology applicable to the Space Station. This report should be used as a guide and is not intended to be used as a substitute for official Astronaut Office crew positions on specific issues

Vision technology/algorithms for space robotics applications

The thrust of automation and robotics for space applications has been proposed for increased productivity, improved reliability, increased flexibility, higher safety, and for the performance of automating time-consuming tasks, increasing productivity/performance of crew-accomplished tasks, and performing tasks beyond the capability of the crew. This paper provides a review of efforts currently in progress in the area of robotic vision. Both systems and algorithms are discussed. The evolution of future vision/sensing is projected to include the fusion of multisensors ranging from microwave to optical with multimode capability to include position, attitude, recognition, and motion parameters. The key feature of the overall system design will be small size and weight, fast signal processing, robust algorithms, and accurate parameter determination. These aspects of vision/sensing are also discussed

Safe Haptics-enabled Patient-Robot Interaction for Robotic and Telerobotic Rehabilitation of Neuromuscular Disorders: Control Design and Analysis

Motivation: Current statistics show that the population of seniors and the incidence rate of age-related neuromuscular disorders are rapidly increasing worldwide. Improving medical care is likely to increase the survival rate but will result in even more patients in need of Assistive, Rehabilitation and Assessment (ARA) services for extended periods which will place a significant burden on the world\u27s healthcare systems. In many cases, the only alternative is limited and often delayed outpatient therapy. The situation will be worse for patients in remote areas. One potential solution is to develop technologies that provide efficient and safe means of in-hospital and in-home kinesthetic rehabilitation. In this regard, Haptics-enabled Interactive Robotic Neurorehabilitation (HIRN) systems have been developed. Existing Challenges: Although there are specific advantages with the use of HIRN technologies, there still exist several technical and control challenges, e.g., (a) absence of direct interactive physical interaction between therapists and patients; (b) questionable adaptability and flexibility considering the sensorimotor needs of patients; (c) limited accessibility in remote areas; and (d) guaranteeing patient-robot interaction safety while maximizing system transparency, especially when high control effort is needed for severely disabled patients, when the robot is to be used in a patient\u27s home or when the patient experiences involuntary movements. These challenges have provided the motivation for this research. Research Statement: In this project, a novel haptics-enabled telerobotic rehabilitation framework is designed, analyzed and implemented that can be used as a new paradigm for delivering motor therapy which gives therapists direct kinesthetic supervision over the robotic rehabilitation procedure. The system also allows for kinesthetic remote and ultimately in-home rehabilitation. To guarantee interaction safety while maximizing the performance of the system, a new framework for designing stabilizing controllers is developed initially based on small-gain theory and then completed using strong passivity theory. The proposed control framework takes into account knowledge about the variable biomechanical capabilities of the patient\u27s limb(s) in absorbing interaction forces and mechanical energy. The technique is generalized for use for classical rehabilitation robotic systems to realize patient-robot interaction safety while enhancing performance. In the next step, the proposed telerobotic system is studied as a modality of training for classical HIRN systems. The goal is to first model and then regenerate the prescribed kinesthetic supervision of an expert therapist. To broaden the population of patients who can use the technology and HIRN systems, a new control strategy is designed for patients experiencing involuntary movements. As the last step, the outcomes of the proposed theoretical and technological developments are translated to designing assistive mechatronic tools for patients with force and motion control deficits. This study shows that proper augmentation of haptic inputs can not only enhance the transparency and safety of robotic and telerobotic rehabilitation systems, but it can also assist patients with force and motion control deficiencies

An advanced telerobotic system for shuttle payload changeout room processing applications

To potentially alleviate the inherent difficulties in the ground processing of the Space Shuttle and its associated payloads, a teleoperated, semi-autonomous robotic processing system for the Payload Changeout Room (PCR) is now in the conceptual stages. The complete PCR robotic system as currently conceived is described and critical design issues and the required technologies are discussed