Collaborative human-machine interfaces for mobile manipulators.

The use of mobile manipulators in service industries as both agents in physical Human Robot Interaction (pHRI) and for social interactions has been on the increase in recent times due to necessities like compensating for workforce shortages and enabling safer and more efficient operations amongst other reasons. Collaborative robots, or co-bots, are robots that are developed for use with human interaction through direct contact or close proximity in a shared space with the human users. The work presented in this dissertation focuses on the design, implementation and analysis of components for the next-generation collaborative human machine interfaces (CHMI) needed for mobile manipulator co-bots that can be used in various service industries. The particular components of these CHMI\u27s that are considered in this dissertation include: Robot Control: A Neuroadaptive Controller (NAC)-based admittance control strategy for pHRI applications with a co-bot. Robot state estimation: A novel methodology and placement strategy for using arrays of IMUs that can be embedded in robot skin for pose estimation in complex robot mechanisms. User perception of co-bot CHMI\u27s: Evaluation of human perceptions of usefulness and ease of use of a mobile manipulator co-bot in a nursing assistant application scenario. To facilitate advanced control for the Adaptive Robotic Nursing Assistant (ARNA) mobile manipulator co-bot that was designed and developed in our lab, we describe and evaluate an admittance control strategy that features a Neuroadaptive Controller (NAC). The NAC has been specifically formulated for pHRI applications such as patient walking. The controller continuously tunes weights of a neural network to cancel robot non-linearities, including drive train backlash, kinematic or dynamic coupling, variable patient pushing effort, or slope surfaces with unknown inclines. The advantage of our control strategy consists of Lyapunov stability guarantees during interaction, less need for parameter tuning and better performance across a variety of users and operating conditions. We conduct simulations and experiments with 10 users to confirm that the NAC outperforms a classic Proportional-Derivative (PD) joint controller in terms of resulting interaction jerk, user effort, and trajectory tracking error during patient walking. To tackle complex mechanisms of these next-gen robots wherein the use of encoder or other classic pose measuring device is not feasible, we present a study effects of design parameters on methods that use data from Inertial Measurement Units (IMU) in robot skins to provide robot state estimates. These parameters include number of sensors, their placement on the robot, as well as noise properties on the quality of robot pose estimation and its signal-to-noise Ratio (SNR). The results from that study facilitate the creation of robot skin, and in order to enable their use in complex robots, we propose a novel pose estimation method, the Generalized Common Mode Rejection (GCMR) algorithm, for estimation of joint angles in robot chains containing composite joints. The placement study and GCMR are demonstrated using both Gazebo simulation and experiments with a 3-DoF robotic arm containing 2 non-zero link lengths, 1 revolute joint and a 2-DoF composite joint. In addition to yielding insights on the predicted usage of co-bots, the design of control and sensing mechanisms in their CHMI benefits from evaluating the perception of the eventual users of these robots. With co-bots being only increasingly developed and used, there is a need for studies into these user perceptions using existing models that have been used in predicting usage of comparable technology. To this end, we use the Technology Acceptance Model (TAM) to evaluate the CHMI of the ARNA robot in a scenario via analysis of quantitative and questionnaire data collected during experiments with eventual uses. The results from the works conducted in this dissertation demonstrate insightful contributions to the realization of control and sensing systems that are part of CHMI\u27s for next generation co-bots

The emergence of care robotics: A publication and patent analysis

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The emergence of care robotics - A patent and publication analysis

Care robots are a means to support elderly people affected by physical or mental handicaps to remain as autonomous as possible or regain already lost autonomy (e.g. running stairs). They also support care-takers when working with handicapped. We review the emergence of care robotics and particularly offer answers to two research questions: Which organizations and individuals in which countries have been and are active in research and development? How has research and development emerged with regard to activity focus, intensity levels and cooperation? The analysis rests on PATSTAT patent and ISI Web of Science publication data. Bibliographic and network analyses are conducted on country, organization (i.e. universities and firms) and individual levels. We find that care robotics research and development activities have constantly increased since the late 1970s. Today Japanese universities and firms are the most active players, while in early stages US and European organizations pioneered care robotics research. Starting from six disjunctive small networks, several highly interconnected care robotics research networks have evolved. However, most cooperation clusters are still found within the same country. Only few international hubs emerged. Among them are two Japanese organizations (ATR, AIST) and Carnegie Mellon University, US.This is the accepted manuscript. The final version is available from Elsevier at http://www.sciencedirect.com/science/article/pii/S004016251400275

有効なトルク制御が可能で安全なロボットのための可変トルクリミッタの設計と評価

早大学位記番号:新7966早稲田大

Towards a Legal end Ethical Framework for Personal Care Robots. Analysis of Person Carrier, Physical Assistant and Mobile Servant Robots.

Technology is rapidly developing, and regulators and robot creators inevitably have to come to terms with new and unexpected scenarios. A thorough analysis of this new and continuosuly evolving reality could be useful to better understand the current situation and pave the way to the future creation of a legal and ethical framework. This is clearly a wide and complex goal, considering the variety of new technologies available today and those under development. Therefore, this thesis focuses on the evaluation of the impacts of personal care robots. In particular, it analyzes how roboticists adjust their creations to the existing regulatory framework for legal compliance purposes. By carrying out an impact assessment analysis, existing regulatory gaps and lack of regulatory clarity can be highlighted. These gaps should of course be considered further on by lawmakers for a future legal framework for personal care robot. This assessment should be made first against regulations. If the creators of the robot do not encounter any limitations, they can then proceed with its development. On the contrary, if there are some limitations, robot creators will either (1) adjust the robot to comply with the existing regulatory framework; (2) start a negotiation with the regulators to change the law; or (3) carry out the original plan and risk to be non-compliant. The regulator can discuss existing (or lacking) regulations with robot developers and give a legal response accordingly. In an ideal world, robots are clear of impacts and therefore threats can be responded in terms of prevention and opportunities in form of facilitation. In reality, the impacts of robots are often uncertain and less clear, especially when they are inserted in care applications. Therefore, regulators will have to address uncertain risks, ambiguous impacts and yet unkown effects

Aging between Participation and Simulation

This publication aims to initiate an interdisciplinary discourse on the ethical, legal, and social implications of socially assistive technologies in healthcare. It combines practically relevant insights and examples from current research and development with ethical analysis to uncover moral pitfalls at the intersection between the promotion of social participation and well-being, and risks that may diminish the achievement of these ends

Aging between Participation and Simulation

This publication aims to initiate an interdisciplinary discourse on the ethical, legal, and social implications of socially assistive technologies in healthcare. It combines practically relevant insights and examples from current research and development with ethical analysis to uncover moral pitfalls at the intersection between the promotion of social participation and well-being, and risks that may diminish the achievement of these ends

Automation strategies for sample preparation in life science applications

Automation is broadly applied in life science field, with robots playing critical roles. In this dissertation, a platform based on a Yaskawa industrial dual-arm robot (CSDA10F) is presented, which is to automate the sample preparation processes and to integrate analytical instruments. A user-friendly interface has been provided by integrating the platform with SAMI Workstation EX Software. For automating the sample preparation processes, the robot needs to use various commercial tools, including pipette, syringe, microplate, vial, thermo shaker, ultrasonic machine and so on

Intelligent technologies for the aging brain: opportunities and challenges

Intelligent computing is rapidly reshaping healthcare. In light of the global burden of population aging and neurological disorders, dementia and elderly care are among the healthcare sectors that are most likely to benefit from this technological revolution. Trends in artificial intelligence, robotics, ubiquitous computing, neurotechnology and other branches of biomedical engineering are progressively enabling novel opportunities for technology-enhanced care. These Intelligent Assistive Technologies (IATs) open the prospects of supporting older adults with neurocognitive disabilities, maintain their independence, reduce the burden on caregivers and delay the need for long-term care (1, 2). While technology develops fast, yet little knowledge is available to patients and health professionals about the current availability, applicability, and capability of existing IATs. This thesis proposes a state-of-the-art analysis of IATs in dementia and elderly care. Our findings indicate that advances in intelligent technology are resulting in a rapidly expanding number and variety of assistive solutions for older adults and people with neurocognitive disabilities. However, our analysis identifies a number of challenges that negatively affect the optimal deployment and uptake of IATs among target users and care institutions. These include design issues, sub-optimal approaches to product development, translational barriers between lab and clinics, lack of adequate validation and implementation, as well as data security and cyber-risk weaknesses. Additionally, in virtue of their technological novelty, intelligent technologies raise a number of Ethical, Legal and Social Implications (ELSI). Therefore, a significant portion of this thesis is devoted to providing an early ethical Technology Assessment (eTA) of intelligent technology, hence contributing to preparing the terrain for its safe and ethically responsible adoption. This assessment is primarily focused on intelligent technologies at the human-machine interface, as these applications enable an unprecedented exposure of the intimate dimension of individuals to the digital infosphere. Issues of privacy, integrity, equality, and dual-use were addressed at the level of stakeholder analysis, normative ethics and human-rights law. Finally, this thesis is aimed at providing evidence-based recommendations for guiding participatory and responsible development in intelligent technology, and delineating governance strategies that maximize the clinical benefits of IATs for the aging world, while minimizing unintended risks

Care Robotics in Aging Japan: Creating Technical Solutions for the World’s Demographic Problem?

Japan is an ideal country for studying the effects of population aging that cause a wide range of societal issues, ranging from labor shortages and increasing pressure on the welfare state, to growing old age-related poverty and the need for improving productivity to sustain economic prosperity. The research question, which the scientific exploration at hand addresses, is what kind of technologies, generically referred to as robots, may be able to mitigate care problems and generate new solutions, and even further, improve the general health of the Japanese population or serve as a blueprint for other aging societies. Therefore, the case of Japan can be utilized to describe which strategies decision-makers face, as well as the challenges and opportunities caused by such a demographic transition to cope with the effects. The Japanese government prioritizes the large-scale introduction of robotics in areas of worsening labor shortages and daily life. The New Robot Strategy (NRS), a five-year policy-action plan compiled in 2015, is the new tool to coordinate the support for actors in the robotics industry, to finally leverage the predicted large market potential. Whereas policy-makers are concerned with creating a better infrastructure for the creation of versatile robots (e.g. regulative considerations, channeling of subsidies), the bureaucracy (e.g. METI, MHLW) is supposed to supervise the policy implementation and to link important public and private actors of robotics development (e.g. universities, robot-makers, research institutes). The coordination of this triangle of three stakeholder groups will be vital for the success of large-scale implementation of robotics to lessen the burden on caregivers, improve average health and wellbeing and exploit the economic potential of the silver market. Rapidly aging societies are a worldwide demographic phenomenon. Whatever feasible technical solution for care Japan invents for its own society is likely to have an impact elsewhere in the world. If the development of care robots works in Japan, it will likely be of fundamental relevance to other aging societies and may incidentally come to be one of the next export successes for Japan. It might be a chance for the government to kill two birds with one stone: taking care of Japan’s elderly and the Japanese economy at the same time. Whether there is a realistic chance this unique technical-driven approach to solving social problems to work out will be at the heart of this academic inquiry