Coupled Human-machine Tele-manipulation

Brüggemann, Bernd; Röhling, Timo; Welle, Jochen

doi:10.1016/j.promfg.2015.07.157

Cited by 7 publications

(2 citation statements)

References 11 publications

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“…When robot and control device are kinematically similar, the HRI is said to be "homologous" [6]. There are several examples in literature on the control of complex systems as humanoid robots or human-like robotic limbs from human movement [7], [8], [9]. In this case, the kinematic homology between the two elements allows for a straightforward mapping definition.…”

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confidence: 99%

Personalized Telerobotics by Fast Machine Learning of Body-Machine Interfaces

Macchini

Schiano

Floreano

2020

IEEE Robot. Autom. Lett.

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Human-Robot Interfaces (HRIs) can be hard to master for inexperienced users, making the teleoperation of mobile robots a difficult task. The development of Body-Machine Interfaces (BoMIs) represents a promising approach to making a user more proficient, by exploiting the natural control they can exert on their own body motion. Since human motion presents individual traits due to several factors, including physical condition, age, and experience, generic BoMIs still require a significant learning time and effort to reach adequate ability in teleoperation. In this work, we present a novel approach which provides a Body-Machine Interface tailored on the specific user. Our method autonomously learns from the user their preferred strategy to control the robot, and provide a personalized body-machine mapping. We show that the proposed method can significantly reduce the duration of the training phase in teleoperation, thus allowing faster skill acquisition. We validated our approach by performing both simulation and real-world experiments with human subjects. The first involved the teleoperation of a fixed-wing simulated drone, while the second consisted in controlling a real quadrotor. We used our framework to extrapolate common and peculiar features of movements among individuals. Observing reoccurring strategies, we provide insights on how humans would naturally interface with a distal machine. Index terms-Telerobotics and Teleoperation, AI-Based Methods, Learning and Adaptive Systems, Wearable Robots Supplementary video: https://youtu.be/ssLa75f1y2Y I. INTRODUCTION The term telerobotics, derived from the greek tele (distant), refers to a system with a human-in-the-loop operator, controlling a robot situated in a separate environment [1]. Telerobotics finds relevant uses in fields where human cognition and decision-making capabilities cannot be substituted by machine intelligence, including exploration, supervision and maintenance in risky environments, such as nuclear plants [2] or during search and rescue missions [3]. Robotic systems can also be employed in tasks where augmenting the operator's perception and accuracy is needed, as in the case of minimally invasive surgery [4]. These applications require the design and implementation of control interfaces that are sufficiently powerful and intuitive Manuscript

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Personalized Telerobotics by Fast Machine Learning of Body-Machine Interfaces

Macchini

Schiano

Floreano

2020

IEEE Robot. Autom. Lett.

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“…In addition, [14,15] offers solutions focused on education about health care. In [16,17,18,19,20,21] generates Tele-rehabilitation applications, and [22,23,24,25,26] presents tele-operation characteristics. From the structural point of view, [27,28,29,30] presents several health application using a service -oriented architecture (SOA), allowing to identify fundamental aspects of development, novelty, and construction of new knowledge.…”

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confidence: 99%

Synchronized telerehabilitation care in rural zones supported by teleoperated technological aids: application to a Colombian case

Ovalle

García-Melo

Chaux

2022

Investigación e Innovación en Ingenierías

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Objective: This research work proposes and evaluates a model for the provision of physical rehabilitation services supported by teleoperated technological aids, using the Internet as a communication channel for the care of the rural population, and by taking as the study region, a western subregion of Colombia around the municipality of Santiago de Cali- Colombia. Methodology: From the dynamics generated by the interaction between the service system and the users, characterized by the occurrence of events, a formal model was built, using a Colored Petri Net. To do this, a modelling methodology based on a top-down approach was proposed. Results: A model of the care system was developed and evaluated using Petri nets, based on a case study consisting of the current care model offered by a typical health service provider in Cali called "La Ladera ESE Health Network". The weighted improvements through the proposed system were: greater objectivity of traceability, speed of communication, better quality of rehabilitation, as well as the ability of the new system to contribute to greater precision in the initial diagnosis and subsequent periodic evaluation of recovery. Conclusions: The proposed protocol based on the model made it possible to attend concurrently and accurately diagnose up to three patients, through the implementation of technological aids to improve diagnostic support and allow a subsequent periodic evaluation of the patient´s recovery.

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