Computer Access Technologies for Controlling Assistive Robotic Manipulators: Potentials and Challenges

One of the most challenging barriers to a successful application of the assistive robots is how to enable users who have special needs to interact with the robot aids in an efficient and comfortable manner, since the conventional control method using a traditional joystick combined with buttons and/or knobs demands fine motor control and good dexterity resulting in cognitive and physical workload. Adopting computer access technology, which has provided an alternative means to allow people who have a wide range of special needs to independently access their computer, can be a practical solution to this issue. In this paper, we reviewed and discussed the potentials and challenges of computer access technologies as an alternative control method for controlling assistive robotic manipulators, focusing on most widely adopted interventions in the clinical settings, including alternative pointing, keyboard-only access, switch scanning interface and speech recognition

Development of Data Analytics Tools for Acoustic Measurement of Positive Displacement Machines

Noise control is an important factor in evaluating the design of positive displacement machines. This research project aims to develop new tools in MATLAB, with emphasis on visual approaches, to comprehensively characterize the noise generated by positive displacement machines in spatial, temporal and frequency domains. Sound pressure level (SPL), sound intensity level (SIL) and loudness were calculated and plotted on a measurement surface surrounding the pump, which illustrates the spatial distribution of the sound field. In order to highlight the phenomenon within specific frequency bands, Butterworth filters were used to isolate desired frequencies, such that specific harmonic content or 1/3 Octave bands content can be analyzed. In addition to static visualization methods, videos were created by compressing a series of sphere plots in time to illustrate the dynamic characteristics of the measured sound. Corresponding phase plots were generated at the same time to statically illustrate these dynamic characteristics shown on videos. The successful generation of the various methods of characterizing and visualizing pumps generated noise was evaluated on a large sample set of more than 150 measure grids with nearly 30000 individual microphone measurements. The creation of these analytics has already changed the conversation and challenged the state of the art in hydraulic Noise Vibration and Harshness (NVH)

Three Dimentional Computer Vision-Based Alternative Control Method for Assistive Robotic Manipulator

JACO (Kinova Technology, Montreal, QC, Canada) is an assistive robotic manipulator that is gaining popularity for its ability to assist individuals with physical impairments in activities of daily living. To accommodate a wider range of user population especially those with severe physical limitations, alternative control methods need to be developed. In this paper, we presented a vision-based assistive robotic manipulation assistance algorithm (AROMA) for JACO, which uses a low-cost 3D depth sensing camera and an improved inverse kinematic algorithm to enable semi-autonomous or autonomous operation of the JACO. The benchtop tests on a series of grasping tasks showed that the AROMA was able to reliably determine target gripper poses. The success rates for the grasping tasks ranged from 85% to 100% for different objects

ARoMA-V2: Assistive Robotic Manipulation Assistance with Computer Vision and Voice Recognition

We have designed and developed a handy alternative control method, called ARoMA-V2 (Assistive Robotic Manipulation Assistance with computer Vision and Voice recognition), for controlling assistive robotic manipulators based on computer vision and user voice recognition. Potential advantages of ARoMA-V2 over the traditional alternatives include: providing completely hands-free operation; helping a user to maintain a better working posture; Allowing the user to work in postures that otherwise would not be effective for operating an assistive robotic manipulator (i.e., reclined in a chair or bed); supporting task specific commands; providing the user with different levels of intelligent autonomous manipulation assistances; giving the user the feeling that he or she is still in control at any moment; and being compatible with different types of new and existing assistive robotic manipulators

Pengaruh Berat Benih Dan Media Tanam Terhadap Pertumbuhan Vegetatif Bibit Durian (Durio Zibethinus Murr)

Effect of Seed Weight and Growing Media on the Vegetative of Durian Seedling (Durio zibethinus Murr). The research aimed at knowing the effect seed weight and growing media on the vegetative growth of Durian seedling. It lasted for about four months, from February to May 2013, and carried out at Ujoh Village of Long Bagun Sub District, Mahakam Ulu Regency. The Completely Randomized Design was employed for the research with repetitions. The first factor was seed weight (B) that consisted of 3 sub-factor 7-12 g (b1), 14-17 g (b2), and 18-20 g (b3). Whereas the second factor was growing media (M) : entirely top soil (m1), equal mix 1:1 between top soil and sand (m2), equal mix 1:1 between top soil and cow dung (m3), and equal mix 1:1 between top soil and paddy straw (m4). Result of the research revealed that : (1) the seed weight affected very significantly on the seedling height at 30, 60 and 90 days, leave number at 60 and 90 days and stem diameter at 30, 60 and 90 days. But it did not affect significantly on the leave number 30 days. (2) the growing media affected very significantly on seedling stem diameter at 90 days, affected significantly on seedling height at 90 days, but did not affect significantly on seedling height at 30 and 60 days, leave number at 30, 60 and 90 days, and stem diameter at 30 and 60 days, and (3) the interaction between the two above factors did not affect significantly on all parameters observed

Shared Control of Assistive Robotic Manipulators

The continuum of controlling an assistive robotic manipulator (ARM) ranges from manual control to full autonomy. Shared control of an ARM operates in the space between manual control and full autonomy. This paper reviews the status quo on shared control of ARMs. Though users and ARMs can divide responsibilities for a manipulation task in different ways, most research in this area focus on maximizing robot autonomy and minimizing user control, while other work split the responsibilities more evenly between the ARM and the user. User studies in this area are very limited. More research is needed to investigate the overall performance, workload, and satisfaction across different levels of autonomy for the shared control of ARMs