Transparency of a Bilateral Tele-Operation Scheme of a Mobile Manipulator Robot

Andaluz, Víctor H.; Quevedo, Washington X.; Chicaiza, Fernando A.; Varela, José; Gallardo, Cristian; Sánchez, Jorge Sanjurjo; Arteaga, Oscar

doi:10.1007/978-3-319-40621-3_18

Cited by 17 publications

(10 citation statements)

References 21 publications

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“…The integration of many of these tools with robotic systems is often relevant for many researchers in robotics and biomechanics. A few examples can be seen in [49][50][51][52][53][54]. In some cases, these tools are only officially supported or work better in Windows machines (in particular those products developed by Microsoft).…”

Section: Nep For C#mentioning

confidence: 99%

Towards IoT-Aided Human–Robot Interaction Using NEP and ROS: A Platform-Independent, Accessible and Distributed Approach

Coronado

Venture

2020

Sensors

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This article presents the novel Python, C# and JavaScript libraries of Node Primitives (NEP), a high-level, open, distributed, and component-based framework designed to enable easy development of cross-platform software architectures. NEP is built on top of low-level, high-performance and robust sockets libraries (ZeroMQ and Nanomsg) and robot middlewares (ROS 1 and ROS 2). This enables platform-independent development of Human–Robot Interaction (HRI) software architectures. We show minimal code examples for enabling Publish/Subscribe communication between Internet of Things (IoT) and Robotics modules. Two user cases performed outside laboratories are briefly described in order to prove the technological feasibility of NEP for developing real-world applications. The first user case briefly shows the potential of using NEP for enabling the creation of End-User Development (EUD) interfaces for IoT-aided Human–Robot Interaction. The second user case briefly describes a software architecture integrating state-of-art sensory devices, deep learning perceptual modules, and a ROS -based humanoid robot to enable IoT-aided HRI in a public space. Finally, a comparative study showed better latency results of NEP over a popular state-of-art tool (ROS using rosbridge) for connecting different nodes executed in local-host and local area network (LAN).

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Section: Nep For C#mentioning

confidence: 99%

Towards IoT-Aided Human–Robot Interaction Using NEP and ROS: A Platform-Independent, Accessible and Distributed Approach

Coronado

Venture

2020

Sensors

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“…In particular, the concept of usability of software development maintains that the essential factor to be considered is the ease of use, parallel to the actions performed by the user that are described as in Fig. 5, this affects the precision requirements of the system in the mechanism of processing functions [22,23].…”

Section: Virtual Environmentmentioning

confidence: 99%

GY MEDIC: Analysis and Rehabilitation System for Patients with Facial Paralysis

Guanoluisa

Pilatasig

Andaluz

2019

Lecture Notes in Computer Science

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The diagnosis and treatment of facial paralysis is timely in the first seventy-two hours to avoid implications on the return of motor functions of facial muscles. The proposed solution is a software made up of two modules for the analysis and rehabilitation of facial paralysis: (i) The analysis module detects and quantifies the level of asymmetry in the face, this is achieved with the inclusion of techniques for calculating the divergence between the vital points of the face located in the eyes, nose and mouth, measurements optimized with the gamma correction method; (ii) The rehabilitation module stimulates the facial nerves with physical exercises and monitors the patient's progress during therapy, for this purpose, a 3D virtual environment was developed that tracks the patient's facial gestures and, through these, directs a series of activities supported in the physical rehabilitation processes.

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“…Graphic user interface (GUI) running on a computer is also widely adopted in the teleoperation of mobile manipulators [18], although a complex GUI may be not intuitive and effective enough for the operators. Haptic devices such as Falcon are also used in some cases to get force feedback [19], although most of them have only six DoF and are designed to control a fixed manipulator, not a mobile one. In a few situations [20], [21], an exoskeleton or an extra manipulator is employed to measure the position of human arm and provide force feedback to human, which makes teleoperation more intuitive.…”

Section: Introductionmentioning

confidence: 99%

A Teleoperation Interface for Loco-Manipulation Control of Mobile Collaborative Robotic Assistant

Balatti

Lorenzini

et al. 2019

IEEE Robot. Autom. Lett.

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This letter presents a novel teleoperation interface that enables remote loco-manipulation control of a MObile Collaborative robotic Assistant (MOCA). MOCA is a new research platform developed at the Istituto Italiano di Tecnologia (IIT), which is composed of a lightweight manipulator arm, a Pisa/IIT SoftHand, and a mobile platform driven by four omni-directional wheels. A whole-body impedance controller is consequently developed to ensure accurate tracking of the impedance and position trajectories at MOCA end-effector by considering the causal interactions in such a dynamic system. The proposed teleoperation interface provides the user with two control modes: locomotion and manipulation. The locomotion mode receives inputs from a personalized human center-of-pressure model, which enables real-time navigation of the MOCA mobile base in the environment. The manipulation mode receives inputs from a tele-impedance interface, which tracks human arm endpoint stiffness and trajectory profiles in real time and replicates them using the MOCA's whole-body impedance controller. To evaluate the performance of the proposed teleoperation interface in the execution of remote tasks with dynamic uncertainties, a sequence of challenging actions, i.e., navigation, door opening, and wall drilling, has been considered in the experimental setup.

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Transparency of a Bilateral Tele-Operation Scheme of a Mobile Manipulator Robot

Cited by 17 publications

References 21 publications

Towards IoT-Aided Human–Robot Interaction Using NEP and ROS: A Platform-Independent, Accessible and Distributed Approach

Towards IoT-Aided Human–Robot Interaction Using NEP and ROS: A Platform-Independent, Accessible and Distributed Approach

GY MEDIC: Analysis and Rehabilitation System for Patients with Facial Paralysis

A Teleoperation Interface for Loco-Manipulation Control of Mobile Collaborative Robotic Assistant

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