Underactuated Gripper with Forearm Roll Estimation for Human Limbs Manipulation in Rescue Robotics

Gandarias, Juan M.; Pastor, Francisco; Muñoz-Ramírez, Antonio José; García-Cerezo, Alfonso J.; Gómez-de-Gabriel, Jesús M.

doi:10.1109/iros40897.2019.8967953

Cited by 15 publications

(10 citation statements)

References 22 publications

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“…, and f rext ∈ R 6 are the gravitational, control, and external forces vectors, respectively. Notably, only the end-effector dynamics are considered in (5); the null-space dynamics are not included. The matrix J † (q r ) is the dynamically consistent generalized inverse of the Jacobian matrix, which is defined as…”

Section: B Robot Controlmentioning

confidence: 99%

“…Typical existing applications involving this technology include activities that do not require high levels of physical interaction, such as feeding [2] or dressing [3]. However, the ability to facilitate tasks that involve high levels of physical interaction, such as climbing stairs or standing up from a bed or chair [4], relocating limbs [5], object handovers [6], and stabilizing limb motions [7], is also desired in assistive robots.…”

Section: Introductionmentioning

confidence: 99%

“…Laitenberger et al proposed a method to estimate the parameter values using offline external tools [33]. Moreover, recent developments in robot sensing for pHRI include the use of underactuated grippers equipped with tactile sensing and kinesthetic (position) perception to improve their knowledge of grasped objects [34] and estimation of the roll angle of the grasped human forearm with an underactuated gripper [5]. Based on the same principle, the compliant robot's resulting trajectories during the manipulation of a human limb can be used as individual-specific data to estimate the limb's kinematic parameters and poses.…”

Section: Introductionmentioning

confidence: 99%

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Upper-Limb Kinematic Parameter Estimation and Localization Using a Compliant Robotic Manipulator

et al. 2021

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Assistive and rehabilitation robotics have gained momentum over the past decade and are expected to progress significantly in the coming years. Although relevant and promising research advances have contributed to these fields, challenges regarding intentional physical contact with humans remain. Despite being a fundamental component of assistive and rehabilitation tasks, there is an evident lack of work related to robotic manipulators that intentionally manipulate human body parts. Moreover, existing solutions involving end-effector robots are not based on accurate knowledge of human limb dimensions and their current configuration. This knowledge, which is essential for safe human-limb manipulation, depends on the grasping location and human kinematic parameters. This paper addresses the upper-limb manipulation challenge and proposes a pose estimation method using a compliant robotic manipulator. To the best of our knowledge, this is the first attempt to address this challenge. A kinesthetic-based approach enables estimation of the kinematic parameters of the human arm without integrating external sensors. The estimation method relies only on proprioceptive data obtained from a collaborative robot with a Cartesian impedance-based controller to follow a compliant trajectory that depends on human arm kinodynamics. The human arm model is a 2-degree of freedom (DoF) kinematic chain. Thus, prior knowledge of the arm's behavior and an estimation method enables estimation of the kinematic parameters. Two estimation methods are implemented and compared: i) Hough transform (HT); ii) least squares (LS). Furthermore, a resizable, sensorized dummy arm is designed for experimental validation of the proposed approach. Outcomes from six experiments with different arm lengths demonstrate the repeatability and effectiveness of the proposed methodology, which can be used in several rehabilitation robotic applications.

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Section: B Robot Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Upper-Limb Kinematic Parameter Estimation and Localization Using a Compliant Robotic Manipulator

et al. 2021

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“…A continuously stable contact is one important factor that can contribute to a safe and trustworthy physical interaction between a human and robot [8]. In particular, challenges emerge in cases in which a robotic multi-finger end-effector needs to adjust or re-grasp, and it might be necessary to loosen the current grasp for a short time period to accommodate for this re-grasp [9].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Underactuated Finger With Active Rolling Surface

Gómez-de-Gabriel

Würdemann

2021

IEEE Robot. Autom. Lett.

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This paper presents the design, prototype and kinematic model of a new adaptive underactuated finger with an articulated skin/surface that is able to bend and, at the same time, provides active rolling motion along its central axis while keeping the finger configuration. The design is based on a planar chain of overlapping spherical phalanxes that are tendon-driven. The finger has an articulated surface made of an external chain of hollow universal joints that can rotate via its central axis on the surface of the internal structure. The outer surface provides a second active Degree of Freedom (DoF). The two actuators, driving the bending and/or rolling motion, can be used independently. A set of experiments have been included to validate and measure the performance of the prototype for the grasping and rolling actions. The proposed finger can be built with a different number of phalanxes and sizes. A number of these fingers can be arranged along a palm structure resulting in a multi-finger robotic grasper for applications that require adaptation and in-hand manipulation capabilities such as pHRI.

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“…Industrial robots have been particularly effective for fullyautomated processes in which typically high-payload machines are needed with a considerable robot body-mass in comparison with the average body mass of a human being [1]. For applications, in which hard automation is not possible and close collaboration with a human worker is necessary, industrial robots might potentially be harmful or life threatening to the human body [2], [1] -here, collaborative robots (cobots) offer advantages as integrated stiffness-controllable joints [3], sensing systems [4] and control strategies [5], which promise safe (physical) interaction. Cobots such as Universal Robots UR5/UR10 [6], the lightweight robots from KUKA [7], FerRobotics [8], or Franka [9] are made to work closely with humans without the need of safeguarding barriers.…”

Section: Introductionmentioning

confidence: 99%

Open-Loop Position Control in Collaborative, Modular Variable-Stiffness-Link (VSL) Robots

Gandarias

Wang

Stilli

et al. 2020

IEEE Robot. Autom. Lett.

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Collaborative robots (cobots) open up new avenues in the fields of industrial robotics and physical Human-Robot Interaction (pHRI) as they are suitable to work in close approximation and in collaboration with humans. The integration and control of variable stiffness elements allow inherently safe interaction. Apart from notable work on Variable Stiffness Actuators, the concept of Variable-Stiffness-Link (VSL) manipulators promises safety improvements in cases of unintentional physical collisions. However, position control of these type of robotic manipulators is challenging for critical task-oriented motions (e.g., pick and place). Hence, the study of open-loop position control for VSL robots is crucial to achieve high levels of safety, accuracy and hardware cost-efficiency in pHRI applications. In this paper, we propose a hybrid, learning based kinematic modelling approach to improve the performance of traditional open-loop position controllers for a modular, collaborative VSL robot. We show that our approach improves the performance of traditional open-loop position controllers for robots with VSL and compensates for position errors, in particular, for lower stiffness values inside the links: Using our upgraded and modular robot, two experiments have been carried out to evaluate the behaviour of the robot during taskoriented motions. Results show that traditional model-based kinematics are not able to accurately control the position of the end-effector: the position error increases with higher loads and lower pressures inside the VSLs. On the other hand, we demonstrate that, using our approach, the VSL robot can outperform the position control compared to a robotic manipulator with 3D printed rigid links.

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Underactuated Gripper with Forearm Roll Estimation for Human Limbs Manipulation in Rescue Robotics

Cited by 15 publications

References 22 publications

Upper-Limb Kinematic Parameter Estimation and Localization Using a Compliant Robotic Manipulator

Upper-Limb Kinematic Parameter Estimation and Localization Using a Compliant Robotic Manipulator

Adaptive Underactuated Finger With Active Rolling Surface

Open-Loop Position Control in Collaborative, Modular Variable-Stiffness-Link (VSL) Robots

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