Collaborative Bimanual Manipulation Using Optimal Motion Adaptation and Interaction Control Retargetting Human Commands to Feasible Robot Control References

This article presents a robust and reliable human–robot collaboration (HRC) framework for bimanual manipulation. We propose an optimal motion adaptation method to retarget arbitrary human commands to feasible robot pose references while maintaining payload stability. The framework comprises three modules: 1) a task-space sequential equilibrium and inverse kinematics optimization ( task-space SEIKO ) for retargeting human commands and enforcing feasibility constraints, 2) an admittance controller to facilitate compliant human–robot physical interactions, and 3) a low-level controller improving stability during physical interactions. Experimental results show that the proposed framework successfully adapted infeasible and dangerous human commands into continuous motions within safe boundaries and achieved stable grasping and maneuvering of large and heavy objects on a real dual-arm robot via teleoperation and physical interaction. Furthermore, the framework demonstrated the capability in the assembly task of building blocks and the insertion task of industrial power connectors

Force-Guided High-Precision Grasping Control of Fragile and Deformable Objects Using sEMG-Based Force Prediction

Regulating contact forces with high precision is crucial for grasping and manipulating fragile or deformable objects. We aim to utilize the dexterity of human hands to regulate the contact forces for robotic hands and exploit human sensory-motor synergies in a wearable and non-invasive way. We extracted force information from the electric activities of skeletal muscles during their voluntary contractions through surface electromyography (sEMG). We built a regression model based on a Neural Network to predict the gripping force from the preprocessed sEMG signals and achieved high accuracy (R2 = 0.982). Based on the force command predicted from human muscles, we developed a force-guided control framework, where force control was realized via an admittance controller that tracked the predicted gripping force reference to grasp delicate and deformable objects. We demonstrated the effectiveness of the proposed method on a set of representative fragile and deformable objects from daily life, all of which were successfully grasped without any damage or deformation.Comment: 8 pages, 11 figures, to be published on IEEE Robotics and Automation Letters. For the attached video, see https://youtu.be/0AotKaWFJD

Choroidal thickness and vascular microstructure parameters in Chinese school-age children with high hyperopia using optical coherence tomography

BackgroundThe current study was to evaluate the choroidal thickness (CT) and vascular microstructure parameters in Chinese children with high hyperopia through enhanced depth imaging optical coherence tomography (EDI-OCT).MethodsCross-sectional study. A total of 23 children with high hyperopia and 29 children with normal refractive status were retrospectively enrolled in the study. The measurement of the macular CT, 7 points: the sub-foveal area point, the temporal and nasal points at a radius of 0.5-mm, 1.5-mm, and 3-mm were measured. After binarization of the OCT images, the total choroidal area (TCA), stromal area (SA) as well as the luminal area (LA) were identified and measured. The choroidal vascularity index (CVI) was defined as the ratio of LA to TCA. The independent t-test for normal distributions and Kruskal-Wallis tests for non-normal distributions were used to compare other parameters between groups. The Tamhane's T2 test was performed to adjust for multiple comparisons between groups within each analysis.ResultsThe subfoveal CT (SFCT) in the high hypermetropic group was significantly thicker than that in normal controls (309.22 ± 53.14 μm vs. 291.27 ± 38.27 μm; P = 0.019). At 0.5 mm, 1.5 mm, and 3.0 mm in diameter, the nasal choroidal sectors of the high hyperopia eyes were significantly thicker than that of the control (P < 0.05). There was significant difference in the choroidal vascular parameters. TCA and LA in the high hyperopia eyes was significantly larger than that of the normal control eyes (3078129.54 ± 448271.18 μm2 vs. 2765218.17 ± 317827.19 μm2, 1926819.54 ± 229817.56 μm2 vs. 1748817.18 ± 191827.98 μm2; P = 0.009, P = 0.011; Table 2). SA values were 1086287.55 ± 212712.11 um2 in the high hyperopia eyes and 999712.71 ± 209838.12 μm2 in the control eyes. The CVI and LA/SA ratio values were differed significantly in the two groups (P = 0.019, P = 0.030, respectively). AL was significantly correlated with SFCT (r = −0.325, P = 0.047), but not significantly correlated with other parameters. Spherical equivalent (SE) was significantly correlated with AL and SFCT (r = −0.711, r = 0.311; P = 0.001, P = 0.016), whereas no significant association between sphere and other parameters.ConclusionThe choroidal structure of the high hyperopia eyes was different from the normal control eyes. The thicker SFCT, higher LA, and TCA were characteristic of high hyperopia eyes. Choroidal blood flow may be decreased in amblyopic eyes. SFCT of high hyperopia children abnormally increased and correlated with shorter AL and higher SE. AL and SE affect choroidal structure and vascular density

Multicontact Motion Retargeting Using Whole-Body Optimization of Full Kinematics and Sequential Force Equilibrium

This article presents a multicontact motion adaptation framework that enables teleoperation of high degree-of-freedom robots, such as quadrupeds and humanoids, for loco-manipulation tasks in multicontact settings. Our proposed algorithms optimize whole-body configurations and formulate the retargeting of multicontact motions as sequential quadratic programming, which is robust and stable near the edges of feasibility constraints. Our framework allows real-time operation of the robot and reduces cognitive load for the operator because infeasible commands are automatically adapted into physically stable and viable motions on the robot. The results in simulations with full dynamics demonstrated the effectiveness of teleoperating different legged robots interactively and generating rich multicontact movements. We evaluated the computational efficiency of the proposed algorithms, and further validated and analyzed multicontact loco-manipulation tasks on humanoid and quadruped robots by reaching, active pushing, and various traversal on uneven terrains

Collaborative bimanual manipulation using optimal motion adaptation and interaction control

This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to retarget arbitrary commands from multiple human operators into feasible control references. The collaborative manipulation framework has three main modules: (1) contact force modulation for compliant physical interactions with objects via admittance control; (2) task-space sequential equilibrium and inverse kinematics optimization, which adapts interactive commands from multiple operators to feasible motions by satisfying the task constraints and physical limits of the robots; and (3) an interaction controller adopted from the fractal impedance control, which is robust to time delay and stable to superimpose multiple control efforts for generating desired joint torques and controlling the dual-arm robots. Extensive experiments demonstrated the capability of the collaborative bimanual framework, including (1) dual-arm teleoperation that adapts arbitrary infeasible commands that violate joint torque limits into continuous operations within safe boundaries, compared to failures without the proposed optimization; (2) robust maneuver of a stack of objects via physical interactions in presence of model inaccuracy; (3) collaborative multi-operator part assembly, and teleoperated industrial connector insertion, which validate the guaranteed stability of reliable human-robot co-manipulation.Comment: in IEEE Robotics & Automation Magazine, 202

Feasibility Retargeting for Multi-contact Teleoperation and Physical Interaction

International audienceThis short paper outlines two recent works on multi-contact teleoperation and the development of the SEIKO (Sequential Equilibrium Inverse Kinematic Optimization) framework. SEIKO adapts commands from the operator in real-time and ensures that the reference configuration sent to the underlying controller is feasible. Additionally, an admittance scheme is used to implement physical interaction, which is then combined with the operator's command and retargeted. SEIKO has been applied in simulations on various robots, including humanoid and quadruped robots designed for loco-manipulation. Furthermore, SEIKO has been tested on real hardware for bimanual heavy object carrying tasks