Contributions Of The Human Operator To Supernumerary Robotic Limbs
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Contributions Of The Human Operator To Supernumerary Robotic Limbs
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Author : Jacob William Guggenheim
language : en
Publisher:
Release Date : 2020
Contributions Of The Human Operator To Supernumerary Robotic Limbs written by Jacob William Guggenheim and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020 with categories.
An expanding literature base has applied Supernumerary Robotic Limbs (Superlimbs) to fields as diverse as heavy industry, robotic surgery, and assistive technology. While the list of applications has grown, and the designs have become more diverse, the research community has focused almost exclusively on the robotic system's role in augmenting the humans capabilities. This represents only one side of the issue; little research has explored the role of the human operator. This thesis represents the first in-depth exploration of the humans contributions to the Superlimb-human system. We began by examining the control strategy of Superlimbs by asking whether fully manual control of the Superlimbs was viable when the human operator was asked to perform simultaneous and independent tasks with both their robotic and natural limbs. Although we found that the human operator was able to control all four limbs-two robotic, two natural-simultaneously, we found that the human operator performed worse with their natural limbs when controlling all four limbs as compared to when the human operator was only controlling their natural limbs. Thus, when designing Superlimbs for a task set that requires the human and the robot to perform simultaneous independent tasks, this study points to the need for reducing the number of Superlimb degrees of freedom (DOFs) the human must manually control either through design or control. In order to achieve this reduction, we next exploited the high redundancy and flexibility of the human body. First, we proposed a methodology for reduced-actuator Superlimbs by exploiting the human operators' ability to manipulate the base of the Superlimb. Based upon this methodology, we realized a lightweight Superlimb that could assist a human operator by opening a door when the human operator's hands are busy. Second, we proposed a novel control input methodology for communicating a rich variety of commands to the Superlimbs while both hands are busy. Based upon this methodology, and in combination with an intermittent control structure, we controlled the reduced-actuator Superlimb described above with action primitives to assist a human operator by opening a door when the human operator was holding a large box. Finally, as the Superlimb's state changes, that change is reflected as a change in the forces and torques felt by the human operator at the base of the Superlimb. We found that this inherent haptic feedback allowed the operator to both perform closed-loop manually control of the force output of a Superlimb and to supervise the autonomous actions of a Superlimb. In sum, this thesis explores how Superlimbs can be designed to exploit the benefits while limiting the challenges of being attached to a human operator.
The Routledge Handbook Of Bodily Awareness
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Author : Adrian J.T. Alsmith
language : en
Publisher: Taylor & Francis
Release Date : 2022-11-30
The Routledge Handbook Of Bodily Awareness written by Adrian J.T. Alsmith and has been published by Taylor & Francis this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-11-30 with Philosophy categories.
Bodily awareness is one of the most interesting and enigmatic forms of experience. Our earliest and most pervasive form of conscious experience, it also arguably remains the most private. Bodily awareness has also long played a central role in the study of the mind and self-consciousness, and is fundamental to much current philosophical and psychological research. The Routledge Handbook of Bodily Awareness is an outstanding reference source to this fascinating subject. Comprising over thirty chapters by an international team of contributors, the Handbook is divided into seven parts: Epistemology and Metaphysics Historical Issues Body Representation Sensing the Body Dynamics Pathology Interaction Within these sections specific topics covered include bodily ownership, personal identity, self-consciousness, body modelling in robot design, body illusions, touch, proprioception, phantom limb syndrome, pain, eating disorders, out-of-body experiences and virtual reality. The handbook features specially commissioned contributions from researchers in a wide array of disciplines, whilst being accessible to readers with any disciplinary background. It also includes an interdisciplinary introduction, written by the editors, tying together the central themes with particular attention to the interaction between conceptual, technological and empirical issues. The Routledge Handbook of Bodily Awareness will be of great interest to those in a wide variety of philosophical subdisciplines as well as those in psychology, cognitive science, sociology and related subjects.
Aerospace Medicine And Biology
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Author :
language : en
Publisher:
Release Date : 1979
Aerospace Medicine And Biology written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1979 with Aviation medicine categories.
A selection of annotated references to unclassified reports and journal articles that were introduced into the NASA scientific and technical information system and announced in Scientific and technical aerospace reports (STAR) and International aerospace abstracts (IAA).
Owning A Body Moving A Body Me
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Author : Lorenzo Pia
language : en
Publisher: Frontiers Media SA
Release Date : 2019-05-16
Owning A Body Moving A Body Me written by Lorenzo Pia and has been published by Frontiers Media SA this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-05-16 with categories.
The conscious experience of the bodily self is a cornerstone of human nature, which allows us to delineate the boundaries between the surrounding environment and us. A plethora of clinical and experimental investigations has clearly demonstrated that bodily self-consciousness draws on different neuro-cognitive mechanisms with distinct anatomo-functional underpinnings. Among these, the sense of body ownership (i.e., my body belongs to me), and the sense of agency (i.e., I am the author of my actions) have attracted increasing interest in recent years. The former seems to be strongly rooted in afferent sensory signals, whereas the latter appears to be rooted in efferent motor signals and/or the monitoring of their sensory consequences. Despite the consensus that the interplay between body ownership and the sense of agency contribute to the omnipresent conscious experience of the bodily self, the character and the form of this relationship remain unclear. Though research into the mechanisms underlying ownership (e.g., bodily illusions) or on agency (e.g., intentional binding) is blooming, very few studies have aimed to investigate both these processes at the same time. Therefore, many questions remain unresolved: for example, how do the experiences of ownership and agency influence each other? What are the anatomo-functional substrates of their interplay, and how does damage to these structures affect the experience of either ownership or agency (or both) in clinical populations? What is the specific role of efferent and afferent signals, and how may these be complimented by other inputs like emotional or interoceptive cues? And going beyond the mechanisms and anatomo-functional substrates, are there rational relations between the representations underlying body ownership and agency so that ownership can be a seen as a condition on intentional action and a sense of agency? Elucidating the complex relationship between ownership and agency is a crucial step in our understanding of bodily self-consciousness, and may help us to better understand the variety of neurological/psychiatric disorders affecting the perception of one’s own body and its movements. These insights can contribute to the development of future prosthetic devices or virtual-reality applications, which may in turn allow for new approaches in neuroscience, rehabilitative medicine, and therapeutic interventions.
Supernumerary Robotic Limbs
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Author : Clark Michael Davenport
language : en
Publisher:
Release Date : 2013
Supernumerary Robotic Limbs written by Clark Michael Davenport and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013 with categories.
As the workforce within manufacturing grows older, especially within aircraft manufacturing, the need for new technologies to assist workers arises. If a technology could offer improvements to an aircraft manufacturing laborer's efficiency, as well as reduce the load on his body, it could potentially see vast use. This thesis discusses a potential solution to these issues - the Supernumerary Robotic Limbs (SRL). These limbs could potentially increase the workspace of the human operator to him more efficient, as well as reduce the load on the human while he performs staining tasks. It accomplishes this by providing the worker with extra arms in the form of a wearable backpack. This thesis first evaluates how the torques imposed on a human are affected when he uses an SRL-like device to help bear a static load. It is shown that the human work load necessary to bear such a load is reduced substantially. The second focus of this thesis is the skill acquisition. A data-driven approach is taken to learn trajectories and a leader-follower coordination relationship. This is done by generating teaching data representing trajectories and coordination information with two humans, then transferring the pertinent information to a robot that assumes the role of the follower. This coordination is validated in a simple one-dimension example, and is implemented on a robot that coordinates with a human leader during a control-box wiring task.
Augmenting Human Manipulation Abilities With Supernumerary Robotic Limbs
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Author : Irfan Hussain
language : en
Publisher: Springer Nature
Release Date : 2020-07-17
Augmenting Human Manipulation Abilities With Supernumerary Robotic Limbs written by Irfan Hussain and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-07-17 with Technology & Engineering categories.
This book offers a timely report on an emerging topic in the field of wearable assistive technology: the design and development of robotic extra fingers. After a concise review of the state of the art and a description of earlier prototypes, it discusses the authors’ efforts to address issues such as portability and wearability of the devices, including strategies to reduce fatigue and to integrate the motion of the extra fingers with that of the human hand. The book also explores optimized control algorithms and the design of wearable sensorimotor interfaces, and presents a set of tests carried out on healthy subjects and chronic stroke patients. Merging concepts from robotics, biomechanics, human factors and control theory and offering an overview of supernumerary robotic fingers, including the challenges, this book will inspire researchers involved in the development of wearable robotic devices and interfaces based on the principles of wearability, safety, ergonomics and user comfort.
Supernumerary Robotic Limbs
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Author : Baldin Adolfo Llorens-Bonilla
language : en
Publisher:
Release Date : 2013
Supernumerary Robotic Limbs written by Baldin Adolfo Llorens-Bonilla and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013 with categories.
Full automation of repetitive and/or specialized tasks has become a preferred means to meet the needs of manufacturing industries. However, some tasks cannot be fully automated due to their complexity or the nature of the work environment. In such cases, semi-automation through human-robot collaboration is a strong alternative that still maintains a high level of efficiency in task execution. This thesis focused on the control and coordination issues of the Supernumerary Robotic Limbs (SRL); a pair of wearable robotic limbs that are a potential solution to these issues. The first purpose of this study was to adequately model the collaborative aspect of a task that is conventionally performed by two coworkers. This was achieved through the Coloured Petri Nets (CPN) tool, which was able to model the collaboration between two coworkers by using the SRL and its operator instead. The second purpose of this work was to evaluate how to implement a sensor suit to establish reliable communication between the SRL and its operator. Using data-driven methods for detection, we were able to monitor the operator's current state. By combining this data with the CPN task model we were able to relay the operator's intentions to the SRL. This enabled the SRL to follow the CPN process model in a timely and coordinated manner together with its operator. The third and final section of this thesis focused on considering the interchangeability of roles between the SRL and its operator. We used a datadriven approach to model a task where the SRL and its operator had to perform a simultaneous dynamic task. This was performed by using teach by demonstration techniques on process data from two workers. A control algorithm was then extracted from the actions of the supporting worker. Both the process model and the sensor suit, together with the detection algorithms, were implemented and validated using the first prototype of the SRL. Results show that the SRL was successful in autonomously coordinating with its operator and completing an intercostal assembly task.
Design And Control Of Supernumerary Robotic Limbs
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Author : Federico Parietti
language : en
Publisher:
Release Date : 2016
Design And Control Of Supernumerary Robotic Limbs written by Federico Parietti and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016 with categories.
Humans possess the remarkable ability to control their four natural limbs in a voluntary, accurate and independent manner. The simultaneous use of two or more limbs allows humans to learn and robustly perform a wide range of complex tasks. Since the use of multiple limbs enables humans to master advanced motor skills, it would be interesting to study whether having additional limbs would enable users to expand their skill set beyond its natural limits. Inspired by this vision, we propose a new form of human augmentation: a wearable robot that augments its user by providing him with an additional set of robotic limbs. We named this new device Supernumerary Robotic Limbs (SRL). However, humans have never had the possibility to control additional, powered limbs besides their natural arms and legs. The main theme of this thesis, besides realizing a prototype of the robot and proving its usefulness in realworld tasks, is demonstrating that humans can voluntarily control additional limbs as if they were a part of their own body. We realized a lightweight (3.5 kg), comfortable prototype of the SRL that can be easily worn by an unassisted user. Two robotic limbs can assist the user in both manufacturing and locomotion tasks. We created control strategies that take advantage of the independence of the robotic limbs, enabling them to provide optimal assistance in specific tasks such as weight support, body stabilization, using powered tools, sitting/standing and dynamic walking. Finally, we developed an EMG-based control interface that enables users to voluntarily control the motion of the robotic limbs, without interfering with the posture of the rest of the body. The new augmentation technology presented in this thesis opens up new possibilities in the field of wearable robotics. The voluntary control of additional robotic limbs falls within the range of motor skills that humans can learn, and enables the acquisition of a new set of complex skills that would not be achievable using only the natural body..
Supernumerary Robotic Limbs For Human Augmentation In Overhead Assembly Tasks
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Author : Lawrence Zack Bright
language : en
Publisher:
Release Date : 2017
Supernumerary Robotic Limbs For Human Augmentation In Overhead Assembly Tasks written by Lawrence Zack Bright and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017 with categories.
Manufacturing tasks are highly demanding of work, and there is an especially high prevalence of injury associated with overhead tasks which are taxing to the shoulder and upper body. To assist workers completing these tasks, and to increase overall productivity, safety and effectiveness, we introduce a novel design of Supernumerary Robotic Limb (SRL). This is a robotic arm worn on the shoulder of the technician/- worker which extends the human capability with implicit force control algorithms that allow for intuitive control and interface of the extra robot arm. Affectionately dubbed Aucto, the robotic arm can lift an object and hold it while the wearer is securing the object using a tool with both hands. The worker does not have to take a laborious posture for a long time, reducing fatigue and injuries. Furthermore, a single worker can execute the task, which would otherwise require two workers. Two technical challenges and novel solutions are presented. One is to make the wearable robot simple and lightweight with use of a new type of granular jamming gripper that can grasp diverse objects from an arbitrary direction. This eliminates the need for orienting the gripper against the object with three-axis wrist joints, reducing the number of degrees of freedom (DOF) from 6 to 3. The other is an effective control algorithm that allows the wearer to move freely while the robot on the shoulder is holding an object. Unlike a robot sitting on a floor, the SRL worn by a human is disturbed by the movement of the wearer. An admittance-based control algorithm allows the robot to hold the object stably and securely despite the human movement and changes in posture. A 3 DOF prototype robot with a new granular jamming gripper and an ergonomic body mounting gear is developed and tested. It is demonstrated that the robot can hold a large object securely in the overhead area despite the movement of the wearer while performing an assembly work.
Foot Controlled Supernumerary Robotic Arm
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Author : Brandon William Rudolph
language : en
Publisher:
Release Date : 2019
Foot Controlled Supernumerary Robotic Arm written by Brandon William Rudolph and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019 with Mechanical engineering categories.
A supernumerary robotic limb (SRL) is a robotic limb that can act as an extra arm or leg for a human user. An unsolved issue with SRLs is how to operate them well. One possibility is to control an SRL with the foot, which offers the benefit of a third arm because the user's arms remain unoccupied. While hand interfaces are common, foot interfaces are not well understood. Developing a good foot interface is challenging because of differences between feet and hands, such as the larger inertia of the leg. This thesis presents work to determine some design principles for foot interfaces. First, an experiment is done to test if the addition of friction to a foot interface can improve performance. The results show that friction can help a user stop and hold position without reducing the dynamic performance of the user. A second experiment looks at the performance of isometric interfaces, which, unlike isotonic interfaces, use force inputs rather than motion. Isotonic interfaces generally outperformed isometric, although there were only small differences between rate control for both isotonic and isometric. Additionally, rate control was found to be better than position control for the isometric interface. Finally, an experiment was conducted to evaluate how well a human user can use a foot-controlled SRL to coordinate motion with both of their hands. People showed that they could reliably use their foot in conjunction with their hands to perform a two-dimensional positioning task better than they can with just two hands, and with performance resembling that of two human users.