A Practical Control Approach for Safe Collaborative Supernumerary Robotic Arms

Khoramshahi, Mahdi; Poignant, Alexis; Morel, Guillaume; Jarrassé, Nathanaël

doi:10.1109/arso56563.2023.10187452

Cited by 4 publications

(1 citation statement)

References 25 publications

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“…The SRA was composed of the 7-DoF robotic arm Kinova Gen 3 Ultra lightweight attached to a modified Pellenc comfort harness [30] developed by the AGATHE team of ISIR-SU [31]. This robot's form factor, light weight, and default hardware make it safe for cobotic applications in close interaction with the human body.…”

Section: Methodsmentioning

confidence: 99%

Effect of Vibrotactile Feedback on the Control of the Interaction Force of a Supernumerary Robotic Arm

Buratti,

Deiana,

Noccaro

et al. 2023

Machines

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Supernumerary robotic limbs are mainly designed to augment the physical capabilities of able-bodied individuals, in a wide range of contexts from body support to surgery. When they are worn as wearable devices, they naturally provide inherent feedback due to the mechanical coupling with the human body. The user can, thus, perceive the interaction with the environment by relying on a combination of visual and inherent feedback. However, these can be inefficient in accomplishing complex tasks, particularly in the case of visual occlusion or variation in the environment stiffness. Here, we investigated whether, in a force-regulation task using a wearable supernumerary robotic arm (SRA), additional vibrotactile feedback can increase the control performance of participants compared to the inherent feedback. Additionally, to make the scenario more realistic, we introduced variations in the SRA’s kinematic posture and in the environment stiffness. Notably, our findings revealed a statistically significant improvement in user performance over all the evaluated metrics while receiving additional vibrotactile feedback. Compared to inherent feedback alone, the additional vibrotactile feedback allowed participants to exert the required force faster (p < 0.01), to maintain it for longer (p < 0.001), and with lower errors (p < 0.001). No discernible effects related to the SRA’s posture or environment stiffness were observed. These results proved the benefits of providing the user with additional vibrotactile feedback to convey the SRA’s force during interaction tasks.

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Section: Methodsmentioning

confidence: 99%