Anthropomorphic Robotic Hand for Teleoperation & Telepresence in Space & Hazardous Environments
International Journal of Astrophysics and Space Science
Volume 1, Issue 5, December 2013, Pages: 64-69
Received: Oct. 10, 2013;
Published: Nov. 30, 2013
Views 3694 Downloads 144
Mihail Teodorescu, Research Institute for Artificial Intelligence, Bucharest, Romania
Lucian Milea, Solaris Consult S.R.L., Bucharest, Romania
Monica Dascalu, Politehnica University of Bucharest, Romania
Dan Coroama, Politehnica University of Bucharest, Romania
The research presented in this article aimed at achieving an innovative anthropomorphic robotic arm with intelligent sensory feedback, which is remotely controlled by a human operator, using a control-glove. The movements of the human operators hand will be exactly reproduced by the manipulation robotic hand, which also provides feedback regarding the pressure confronted with and 3D visual information of the manipulation area. This will enable the possibility of complex and high precision manipulation in unfriendly and hazardous environments, without exposing the human operator to risks. Teleoperation will be carried out by means of a Multi-sensory control glove (MSG), which will enable high-precision tasks performing with almost no preliminary training required for the operator (the robotic hand having all five articulated and driven fingers and allowing human-like complex maneuvers). The MSG is equipped with position movement and acceleration sensors, and also a system for transmitting the haptic feedback to the operator, which is the first component of the tele-presence implemented in the robotic system. The second component is 3D visual feedback from the operation site, using a stereoscopic HD camera mounted on the robot platform and a 3D vision helmet, with glasses containing two OLED displays for the operator. Using this kind of robotic system, the human operator can act efficiently from inside safe environment, only the robotic hand and it's mobile platform (or supporting arm) being exposed to hazardous conditions. The applications of this robotic hand could include the following domains: space exploration and working (remote operations on void space or on other planets' surface driven from human-safe environment), working in toxic atmosphere (chemically poisoned or toxic gas emanation sites); working in high radiation-level environments (like nuclear plants); working in marine applications (deep ocean exploration, repair of offshore oil platforms etc.) etc.
Anthropomorphic Robotic Hand for Teleoperation & Telepresence in Space & Hazardous Environments, International Journal of Astrophysics and Space Science.
Vol. 1, No. 5,
2013, pp. 64-69.
G. Magnani, P. Rocco, L. Trevisan, A.M. Zanchettin, A. Rusconi, "Torque control in the joint of a space robotic arm", 5th IEEE International Conference on Mechatronics - ICM 2009, Malaga, Spain, April 2009.
K. Landzettel, C. Preusche, A. Albu-Schäffer, D. Reintsema, B. Rebele, G. Hirzinger, Robotic On-Orbit Servicing - DLR's Experience and Perspective. In proc. of the International Conference on Intel ligent Robots and Systems (IROS), Peking, China, 2006
Sommer, B. (2003). Automation and Robotics in the German Space Program - Unmanned on-Orbit Servicing (OOS) & the TECSAS Mission. In proc. of 55th International Astronautical Congress, Vancouver, Canada, Oct. 2004
Billman, D., Feary, M., & Rochlis Zumbado, J. (2011). Evidence Report: Risk of Inadequate Design of Human and Automation/Robotic Integration. Houston, Texas: Lyndon B. Johnson Space Center
Eduard Franti, Gheorghe Stefan, Paul Schiopu, Tiberiu Boros, Anca Plavitu, Intelligent control system for artificial arms configuration, Published in Proceedings of the 5th European conference on European computing conference, Pages 312-316, ISBN: 978-960-474-297-4
Erhan Oztop, David W. Franklin, Thierry Chaminade, Gordon Cheng, Human-Humanoid Interaction: Is a Humanoid Robot Percieved as a Human?, International Journal of Humanoid Robotics 2(4)(2005) 537-559
Christoph Bartneck, Takayuki Kanda, Omar Mubin, Abdullah Al Mahmud. (2009). Does the Design of a Robot Influence Its Animacy and Perceived Intelligence? Int J Soc Robot (2009) 1: 195–204
Chintamani, K., Nawab, A., Pandya, A., Ellis, R.D., & Cao, A. (2006). Comparing Two Kinematics Methods For Telerobotic Control Applications, Paper presented at the 50th Annual meeting of the Human Factors and Ergonomics Society, San Francisco CA.
Eduard Franti, Gheorghe Stefan, Paul Schiopu, Anca Plavitu, Tiberiu Boros, Modular software for artificial arms design, Published in Proceedings of the 13th WSEAS international conference on Automatic control, modelling & simulation, Pages 387-391, ISBN: 978-1-61804-004-6
Ambrose, R., Wilcox, B., Reed, R., Matthies, L., Lavery, D., & Korsmeyer, D. (2012). Robotics, Tele-robotics and Autonomous Systems Roadmap, Technology Area 04. Washington, DC National Aeronautics and Space Administration.
Chintamani, K., Cao, A., Ellis, R.D., & Pandya, A.K. (2010). Improved Tele-manipulator Navigation during Display-Control Misalignments using Augmented Reality Cues. IEEE Transactions on Systems, Man and Cybernetics, Part (A), 40, 29-39.
Jessie Y. C. Chen, Ellen C. Haas, and Michael J. Barnes Human Performance Issues and User Interface Design for Teleoperated Robots. IEEE Transactions on Systems, Man and Cybertenics. Part C:Applications and reviews, VOL. 37, NO. 6, 11, 2007
A. Birk, S. Schwertfeger, and K. Pathak, ‘‘A networking framework for teleoperation in safety, security, and rescue robotics (SSRR),’’ IEEE Wireless Commun. (Special Issue on Wireless Communications in Networked Robotics), vol. 6, no. 13, pp. 6–13, 2009.
Curtis W. Nielsen, Michael A. Goodrich, and Robert W. Ricks, Ecological Interfaces for Improving Mobile Robot Teleoperation, IEEE Transactions on Robotics, vol. 23, no. 5, pp. 927-941, October 2007, ISSN: 1552-3098
Kubota, N.; Obo, T.; Fukuda, T. "An intelligent monitoring system based on emotional model in sensor networks", Robot and Human Interactive Communication, 2009. RO-MAN 2009. The 18th IEEE International Symposium on, On page(s): 346 - 351
Keshav Chintamani, R. Darin Ellis, Chin An Tan, Abhilash Pandya, Automated Augmented Reality Operator Aids for Space Robotic Teleoperations, Study funded by NASA Cooperative Agreement NNJ04HI11, 2012.
K. Chintamani, A. Cao, R.D., Ellis, C.A. Tan, A.K. Pandya, Systematic Teleoperation with Augmented Reality Path Planner Navigation Cues in Cluttered Environments. Paper presented at the 53rd Annual Meeting of the Human Factors and Ergonomics Society, San Antonio, TX, 2009
N. Kubota, S.Wakisaka, A. Yorita, "Tele-operation of robot partners through iPod touche", Computational Intelligence and Intelligent Informatics, 2009. ISCIII '09. 4th International Symposium on, On page(s): 75 - 80
G. Ferretti, G. Magnani, P. Porrati, G. Rizzi, P.Rocco, A. Rusconi, "Real-Time Simulation of a Space Robotic Arm", Workshop on robot simulators at the IEEE/RSJ International Conference on Intelligent RObots and Systems – IROS 2008, Nice, France, September 2008.
A. Rusconi, P. Magnani, A. Della Pietà, P. Campo, G. Magnani, G. Visentin, "DEXARM Integration and Test Results", i-SAIRAS 2010, , Sapporo, Japan, pp. 354-361
A. Rusconi, P. Magnani, J. F. Gonzalez Lodoso, P.Campo, R. Chomicz, G. Magnani, "Design and Development of an Integrated Joint for the Dextrous Robot Arm", 9th ESA Workshop on Advanced Space Technologies for Robotics and Automation - ASTRA 2006, ESA/ESTEC, Noordwijk (The Netherlands), November 2006.
G. Hirzinger, K. Landzettel, B. Brunner, M. Fischer, C. Preusche and D. Reintsema, et al., DLR’s robotics technologies for on‐orbit servicing, Advanced Robotics 18(2), 139‐174 (2004).
K. Saitoh, T. Machida, K. Kiyokawa, and H. Takemura, A 2D-3D Integrated Interface for Mobile Robot Control Using Omnidirectional Images and 3D Geometric Models 2006. ISMAR 2006. IEEE/ACM International Symposium on, 2006.