Download or read book Physical Human robot Interaction with Lightweight Elastic Tendon Driven Robotic Arm written by Thomas Lens and published by . This book was released on 2013 with total page 114 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Approaching Human Performance written by Markus Grebenstein and published by Springer. This book was released on 2014-01-24 with total page 234 pages. Available in PDF, EPUB and Kindle. Book excerpt: Humanoid robotics have made remarkable progress since the dawn of robotics. So why don't we have humanoid robot assistants in day-to-day life yet? This book analyzes the keys to building a successful humanoid robot for field robotics, where collisions become an unavoidable part of the game. The author argues that the design goal should be real anthropomorphism, as opposed to mere human-like appearance. He deduces three major characteristics to aim for when designing a humanoid robot, particularly robot hands: - Robustness against impacts - Fast dynamics - Human-like grasping and manipulation performance Instead of blindly copying human anatomy, this book opts for a holistic design methodology. It analyzes human hands and existing robot hands to elucidate the important functionalities that are the building blocks toward these necessary characteristics. They are the keys to designing an anthropomorphic robot hand, as illustrated in the high performance anthropomorphic Awiwi Hand presented in this book. This is not only a handbook for robot hand designers. It gives a comprehensive survey and analysis of the state of the art in robot hands as well as the human anatomy. It is also aimed at researchers and roboticists interested in the underlying functionalities of hands, grasping and manipulation. The methodology of functional abstraction is not limited to robot hands, it can also help realize a new generation of humanoid robots to accommodate a broader spectrum of the needs of human society.

Download or read book Biologically Inspired Control of Humanoid Robot Arms written by Adam Spiers and published by Springer. This book was released on 2016-05-19 with total page 286 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book investigates a biologically inspired method of robot arm control, developed with the objective of synthesising human-like motion dynamically, using nonlinear, robust and adaptive control techniques in practical robot systems. The control method caters to a rising interest in humanoid robots and the need for appropriate control schemes to match these systems. Unlike the classic kinematic schemes used in industrial manipulators, the dynamic approaches proposed here promote human-like motion with better exploitation of the robot’s physical structure. This also benefits human-robot interaction. The control schemes proposed in this book are inspired by a wealth of human-motion literature that indicates the drivers of motion to be dynamic, model-based and optimal. Such considerations lend themselves nicely to achievement via nonlinear control techniques without the necessity for extensive and complex biological models. The operational-space method of robot control forms the basis of many of the techniques investigated in this book. The method includes attractive features such as the decoupling of motion into task and posture components. Various developments are made in each of these elements. Simple cost functions inspired by biomechanical “effort” and “discomfort” generate realistic posture motion. Sliding-mode techniques overcome robustness shortcomings for practical implementation. Arm compliance is achieved via a method of model-free adaptive control that also deals with actuator saturation via anti-windup compensation. A neural-network-centered learning-by-observation scheme generates new task motions, based on motion-capture data recorded from human volunteers. In other parts of the book, motion capture is used to test theories of human movement. All developed controllers are applied to the reaching motion of a humanoid robot arm and are demonstrated to be practically realisable. This book is designed to be of interest to those wishing to achieve dynamics-based human-like robot-arm motion in academic research, advanced study or certain industrial environments. The book provides motivations, extensive reviews, research results and detailed explanations. It is not only suited to practising control engineers, but also applicable for general roboticists who wish to develop control systems expertise in this area.

Download or read book Robot Physical Interaction through the combination of Vision Tactile and Force Feedback written by Mario Prats and published by Springer. This book was released on 2012-10-05 with total page 187 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot manipulation is a great challenge; it encompasses versatility -adaptation to different situations-, autonomy -independent robot operation-, and dependability -for success under modeling or sensing errors. A complete manipulation task involves, first, a suitable grasp or contact configuration, and the subsequent motion required by the task. This monograph presents a unified framework by introducing task-related aspects into the knowledge-based grasp concept, leading to task-oriented grasps. Similarly, grasp-related issues are also considered during the execution of a task, leading to grasp-oriented tasks which is called framework for physical interaction (FPI). The book presents the theoretical framework for the versatile specification of physical interaction tasks, as well as the problem of autonomous planning of these tasks. A further focus is on sensor-based dependable execution combining three different types of sensors: force, vision and tactile. The FPI approach allows to perform a wide range of robot manipulation tasks. All contributions are validated with several experiments using different real robots placed on household environments; for instance, a high-DoF humanoid robot can successfully operate unmodeled mechanisms with widely varying structure in a general way with natural motions. This research was recipient of the European Georges Giralt Award and the Robotdalen Scientific Award Honorary Mention.

Download or read book Towards Dependability of Ultra Lightweight Tendon Driven Series Elastic Robots written by Jérôme Kirchhoff and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Human Aware Robotics Modeling Human Motor Skills for the Design Planning and Control of a New Generation of Robotic Devices written by Giuseppe Averta and published by Springer Nature. This book was released on 2022-01-25 with total page 284 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book moves from a thorough investigation of human capabilities during movements and interactions with objects and environment and translates those principles into the design planning and control of innovative mechatronic systems, providing significant advancements in the fields of human–robot interaction, autonomous robots, prosthetics and assistive devices. The work presented in this monograph is characterized by a significant paradigmatic shift with respect to typical approaches, as it always place the human at the center of the technology developed, and the human represents the starting point and the actual beneficiary of the developed solutions. The content of this book is targeted to robotics and neuroscience enthusiasts, researchers and makers, students and simple lovers of the matter.

Download or read book Integrated Multi modal and Sensorimotor Coordination for Enhanced Human Robot Interaction written by Bin Fang and published by Frontiers Media SA. This book was released on 2021-06-08 with total page 224 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Robotics Research written by Cédric Pradalier and published by Springer Science & Business Media. This book was released on 2011-05-02 with total page 752 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume presents a collection of papers presented at the 14th International Symposium of Robotic Research (ISRR). ISRR is the biennial meeting of the International Foundation of Robotic Research (IFRR) and its 14th edition took place in Lucerne, Switzerland, from August 31st to September 3rd, 2009. As for the previous symposia, ISRR 2009 followed up on the successful concept of a mixture of invited contributions and open submissions. Half of the 48 presentations were therefore invited contributions from outstanding researchers selected by the IFRR officers, and half were chosen among the 66 submissions after peer review. This selection process resulted in a truly excellent technical program which, we believe, featured some of the very best of robotic research. Out of the 48 presentations, the 42 papers which were finally submitted for publication are organized in 8 sections that encompass the major research orientations in robotics: Navigation, Control & Planning, Human-Robot Interaction, Manipulation and Humanoids, Learning, Mapping, Multi-Robot Systems, and Micro-Robotics. They represent an excellent snapshot of cutting-edge research in robotics and outline future directions.

Download or read book Interfacing Humans and Robots for Gait Assistance and Rehabilitation written by Carlos A. Cifuentes and published by Springer Nature. This book was released on 2021-09-16 with total page 384 pages. Available in PDF, EPUB and Kindle. Book excerpt: The concepts represented in this textbook are explored for the first time in assistive and rehabilitation robotics, which is the combination of physical, cognitive, and social human-robot interaction to empower gait rehabilitation and assist human mobility. The aim is to consolidate the methodologies, modules, and technologies implemented in lower-limb exoskeletons, smart walkers, and social robots when human gait assistance and rehabilitation are the primary targets. This book presents the combination of emergent technologies in healthcare applications and robotics science, such as soft robotics, force control, novel sensing methods, brain-computer interfaces, serious games, automatic learning, and motion planning. From the clinical perspective, case studies are presented for testing and evaluating how those robots interact with humans, analyzing acceptance, perception, biomechanics factors, and physiological mechanisms of recovery during the robotic assistance or therapy. Interfacing Humans and Robots for Gait Assistance and Rehabilitation will enable undergraduate and graduate students of biomedical engineering, rehabilitation engineering, robotics, and health sciences to understand the clinical needs, technology, and science of human-robot interaction behind robotic devices for rehabilitation, and the evidence and implications related to the implementation of those devices in actual therapy and daily life applications.

Download or read book New Trends in Medical and Service Robots written by Hannes Bleuler and published by Springer. This book was released on 2015-11-12 with total page 249 pages. Available in PDF, EPUB and Kindle. Book excerpt: Medical and Service Robotics integrate the most recent achievements in mechanics, mechatronics, computer science, haptic and teleoperation devices together with adaptive control algorithms. The book includes topics such as surgery robotics, assist devices, rehabilitation technology, surgical instrumentation and Brain-Machine Interface (BMI) as examples for medical robotics. Autonomous cleaning, tending, logistics, surveying and rescue robots, and elderly and healthcare robots are typical examples of topics from service robotics. This is the Proceedings of the Third International Workshop on Medical and Service Robots, held in Lausanne, Switzerland in 2014. It presents an overview of current research directions and fields of interest. It is divided into three sections, namely 1) assistive and rehabilitation devices; 2) surgical robotics; and 3) educational and service robotics. Most contributions are strongly anchored on collaborations between technical and medical actors, engineers, surgeons and clinicians. Biomedical robotics and the rapidly growing service automation fields have clearly overtaken the “classical” industrial robotics and automatic control centered activity familiar to the older generation of roboticists.

Download or read book A Geometric Approach to Robotic Manipulation in Physical Human robot Interaction written by Johannes Lachner and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Wearable Robots written by José L. Pons and published by John Wiley & Sons. This book was released on 2008-04-15 with total page 358 pages. Available in PDF, EPUB and Kindle. Book excerpt: A wearable robot is a mechatronic system that is designed around the shape and function of the human body, with segments and joints corresponding to those of the person it is externally coupled with. Teleoperation and power amplification were the first applications, but after recent technological advances the range of application fields has widened. Increasing recognition from the scientific community means that this technology is now employed in telemanipulation, man-amplification, neuromotor control research and rehabilitation, and to assist with impaired human motor control. Logical in structure and original in its global orientation, this volume gives a full overview of wearable robotics, providing the reader with a complete understanding of the key applications and technologies suitable for its development. The main topics are demonstrated through two detailed case studies; one on a lower limb active orthosis for a human leg, and one on a wearable robot that suppresses upper limb tremor. These examples highlight the difficulties and potentialities in this area of technology, illustrating how design decisions should be made based on these. As well as discussing the cognitive interaction between human and robot, this comprehensive text also covers: the mechanics of the wearable robot and it’s biomechanical interaction with the user, including state-of-the-art technologies that enable sensory and motor interaction between human (biological) and wearable artificial (mechatronic) systems; the basis for bioinspiration and biomimetism, general rules for the development of biologically-inspired designs, and how these could serve recursively as biological models to explain biological systems; the study on the development of networks for wearable robotics. Wearable Robotics: Biomechatronic Exoskeletons will appeal to lecturers, senior undergraduate students, postgraduates and other researchers of medical, electrical and bio engineering who are interested in the area of assistive robotics. Active system developers in this sector of the engineering industry will also find it an informative and welcome resource.

Download or read book Advances in Human Robot Interaction written by Erwin Prassler and published by Springer. This book was released on 2010-10-22 with total page 414 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Advances in Human-Robot Interaction" provides a unique collection of recent research in human-robot interaction. It covers the basic important research areas ranging from multi-modal interfaces, interpretation, interaction, learning, or motion coordination to topics such as physical interaction, systems, and architectures. The book addresses key issues of human-robot interaction concerned with perception, modelling, control, planning and cognition, covering a wide spectrum of applications. This includes interaction and communication with robots in manufacturing environments and the collaboration and co-existence with assistive robots in domestic environments. Among the presented examples are a robotic bartender, a new programming paradigm for a cleaning robot, or an approach to interactive teaching of a robot assistant in manufacturing environment. This carefully edited book reports on contributions from leading German academic institutions and industrial companies brought together within MORPHA, a 4 year project on interaction and communication between humans and anthropomorphic robot assistants.

Download or read book Human Robot Interaction Strategies for Walker Assisted Locomotion written by Carlos A. Cifuentes and published by Springer. This book was released on 2016-06-04 with total page 125 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the development of a new multimodal human-robot interface for testing and validating control strategies applied to robotic walkers for assisting human mobility and gait rehabilitation. The aim is to achieve a closer interaction between the robotic device and the individual, empowering the rehabilitation potential of such devices in clinical applications. A new multimodal human-robot interface for testing and validating control strategies applied to robotic walkers for assisting human mobility and gait rehabilitation is presented. Trends and opportunities for future advances in the field of assistive locomotion via the development of hybrid solutions based on the combination of smart walkers and biomechatronic exoskeletons are also discussed.

Download or read book Compliant Robotic Arms for Inherently Safe Physical Human robot Interaction written by Yu She (Ph. D. in mechanical engineering) and published by . This book was released on 2018 with total page 166 pages. Available in PDF, EPUB and Kindle. Book excerpt: Static and dynamic models of the CLs are derived and verified by finite element analysis (FEA). To achieve a high efficiency and accuracy of the dynamic model, a mass-parameter optimization framework is developed for the pseudo-rigid-body (PRB) model. The proposed optimized PRB model can rapidly and precisely predict statics, kinematics, and dynamics for compliant mechanisms. A pHRI platform is then studied from the perspective of both theoretical model and experimental setup. The model provides general guidelines for selecting design parameters for the pHRI platform to achieve desired requirements, and the experimental platform validates the model and demonstrates that the CL design can increase safety for pHRI. This study explores the CL design with variable stiffness for safe pHRI, and expands the research arena with respect to human-safe robot design. The proposed CL designs hold the advantages of larger bandwidth and fewer injury consequences than those of the CJ designs. The developed dynamic model (optimized PRB model) of the CL design has great advantages on economic calculation. The grandly shortened computation of the dynamics model is beneficial for real-time control. The whole pHRI model can be used for evaluations of selected design parameters and provides guidance to customize designs for critical requirements.

Download or read book Physical Human Robot Interaction Using Model Reference Neuroadaptive Control written by Shaikh Md Rubayiat Tousif and published by . This book was released on 2017 with total page 58 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this work Physical Human-Robot Interaction (pHRI) related problems are addressed as a part of the research going on in Assistive Robotics in the University of Texas Research Institute (UTARI). A novel model reference Neuroadaptive controller is designed based on existing technology of Lewis et al. Adaptive impedance control is an important method for force/motion control of robotic systems. Most of the work in adaptive impedance control makes the error dynamics of the system to look like a prescribed model. By contrast, this work does not want the error dynamics to be prescribed as an impedance model. It makes the robot itself feel like a prescribed impedance model. Model reference behavior is introduced which allows to control the interaction behavior by changing the parameters suitably in the model. The novel controller makes the nonlinear dynamics of the robot to look like a linear model which will be more convenient for humans to interact with during task manipulation. In this thesis a new inner-outer loop Neuroadaptive controller is formulated that makes pHRI robust to changes in both co-robot and human user. First, an inner-loop controller with guaranteed robustness and stability causes a robot to behave like a prescribed robot impedance model. Second, an outer-loop controller tunes the impedance model so that the robot system assists humans with varying levels of skill to achieve task-specific objectives. The controller developed in this work has been proved to work and to facilitate the illustration of the theories established, extensive simulations have been carried out on a 2 DOF robotic arm. The simulations results show good agreements with the theoretical concepts.

Download or read book Investigation of the Sensitivity of Human Arm to Small Interaction Forces During Physical Human robot Interaction pHRI written by Fazlur Rashid and published by . This book was released on 2021 with total page 85 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Understanding the human motor control strategy during physical interaction tasks is crucial for developing future robots for physical human-robot interaction (pHRI). Effective pHRI depends on humans communicating their intentions for movement with robots. In physical human-human interaction (pHHI), small interaction forces are known to convey their intent between the partners. It is speculated that small interaction forces contain significant information to convey the movement intention of pHHI. However, the mechanism underlying this interaction strategy is largely unknown. Hence, the aim of this work was to investigate what affects humans' sensitivity to the interaction forces. The hypothesis was that small interaction forces are sensed through the movement of the arm and result in proprioceptive signals. A pHRI setup was used to provide small interaction forces to the seated participants' hands, and the participants were asked to identify the direction of the push while blindfolded. The result showed that participants' abilities to correctly report the direction of the small interaction force were lower with low interaction force and a high level of muscle contraction. In particular, the sensitivity to the interaction force direction increased with the radial displacement of the participant's hand from the initial position and when the misalignment of human arm movement with respect to the force direction was lower. The estimated stiffness of the arm varied with the level of muscle contraction and robot interaction force. These results suggested that humans' may benefit from a lower arm stiffness to detect small interaction forces. The outcomes of this work will help future researchers tailor the development of robotic systems for effective pHRI"--Abstract, page iv.