1
|
Yang X, Chen F, Wang F, Zheng L, Wang S, Qi W, Su H. Sensor Fusion-Based Teleoperation Control of Anthropomorphic Robotic Arm. Biomimetics (Basel) 2023; 8:biomimetics8020169. [PMID: 37092421 PMCID: PMC10123651 DOI: 10.3390/biomimetics8020169] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/28/2023] [Revised: 04/11/2023] [Accepted: 04/14/2023] [Indexed: 04/25/2023] Open
Abstract
Sensor fusion is a technique that combines information from multiple sensors in order to improve the accuracy and reliability of the data being collected. In the context of teleoperation control of an anthropomorphic robotic arm, sensor fusion technology can be used to enhance the precise control of anthropomorphic robotic arms by combining data from multiple sensors, such as cameras, data gloves, force sensors, etc. By fusing and processing this sensing information, it can enable real-time control of anthropomorphic robotic arms and dexterous hands, replicating the motion of human manipulators. In this paper, we present a sensor fusion-based teleoperation control system for the anthropomorphic robotic arm and dexterous hand, which utilizes a filter to fuse data from multiple sensors in real-time. As such, the real-time perceived human arms motion posture information is analyzed and processed, and wireless communication is used to intelligently and flexibly control the anthropomorphic robotic arm and dexterous hand. Finally, the user is able to manage the anthropomorphic operation function in a stable and reliable manner. We also discussed the implementation and experimental evaluation of the system, showing that it is able to achieve improved performance and stability compared to traditional teleoperation control methods.
Collapse
Affiliation(s)
- Xiaolong Yang
- Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China
- College of Mechanical and Electrical Engineering, Changchun University of Science and Technology, Changchun 130022, China
- Weihai Institute for Bionics, Jilin University, Weihai 264402, China
| | - Furong Chen
- Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China
- College of Mechanical and Electrical Engineering, Changchun University of Science and Technology, Changchun 130022, China
- Weihai Institute for Bionics, Jilin University, Weihai 264402, China
| | - Feilong Wang
- Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China
- College of Mechanical and Electrical Engineering, Changchun University of Science and Technology, Changchun 130022, China
- Weihai Institute for Bionics, Jilin University, Weihai 264402, China
| | - Long Zheng
- Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China
- Weihai Institute for Bionics, Jilin University, Weihai 264402, China
| | - Shukun Wang
- College of Mechanical and Electrical Engineering, Changchun University of Science and Technology, Changchun 130022, China
| | - Wen Qi
- School of Future Technology, South China University of Technology, Guangzhou 511436, China
| | - Hang Su
- Weihai Institute for Bionics, Jilin University, Weihai 264402, China
- Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milan 20133, Italy
| |
Collapse
|
2
|
Švejda M, Goubej M, Jáger A, Reitinger J, Severa O. Affordable Motion Tracking System for Intuitive Programming of Industrial Robots. SENSORS (BASEL, SWITZERLAND) 2022; 22:4962. [PMID: 35808453 PMCID: PMC9269710 DOI: 10.3390/s22134962] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 06/10/2022] [Revised: 06/28/2022] [Accepted: 06/28/2022] [Indexed: 06/15/2023]
Abstract
The paper deals with a lead-through method of programming for industrial robots. The goal is to automatically reproduce 6DoF trajectories of a tool wielded by a human operator demonstrating a motion task. We present a novel motion-tracking system built around the HTC Vive pose estimation system. Our solution allows complete automation of the robot teaching process. Specific algorithmic issues of system calibration and motion data post-processing are also discussed, constituting the paper's theoretical contribution. The motion tracking system is successfully deployed in a pilot application of robot-assisted spray painting.
Collapse
|
3
|
Zhu H, Li X, Wang L, Chen Z, Shi Y, Zheng S, Li M. IMU Motion Capture Method with Adaptive Tremor Attenuation in Teleoperation Robot System. SENSORS 2022; 22:s22093353. [PMID: 35591043 PMCID: PMC9100553 DOI: 10.3390/s22093353] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 03/23/2022] [Revised: 04/23/2022] [Accepted: 04/25/2022] [Indexed: 11/16/2022]
Abstract
Teleoperation robot systems can help humans perform tasks in unstructured environments. However, non-intuitive control interfaces using only a keyboard or joystick and physiological tremor reduce the performance of teleoperation. This paper presents an intuitive control interface based on the wearable device gForcePro+ armband. Two gForcePro+ armbands are worn at the centroid of the upper arm and forearm, respectively. Firstly, the kinematics model of the human arm is established, and the inertial measurement units (IMUs) are used to capture the position and orientation information of the end of the arm. Then, a regression model of angular transformation is developed for the phenomenon that the rotation axis of the torsion joint is not perfectly aligned with the limb segment during motion, which can be applied to different individuals. Finally, to attenuate the physiological tremor, a variable gain extended Kalman filter (EKF) fusing sEMG signals is developed. The described control interface shows good attitude estimation accuracy compared to the VICON optical capture system, with an average angular RMSE of 4.837° ± 1.433°. The performance of the described filtering method is tested using the xMate3 Pro robot, and the results show it can improve the tracking performance of the robot and reduce the tremor.
Collapse
Affiliation(s)
- Huijin Zhu
- School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710000, China; (H.Z.); (L.W.); (Z.C.); (Y.S.); (M.L.)
| | - Xiaoling Li
- School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710000, China; (H.Z.); (L.W.); (Z.C.); (Y.S.); (M.L.)
- Correspondence: ; Tel.: +86-130-0295-1718
| | - Long Wang
- School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710000, China; (H.Z.); (L.W.); (Z.C.); (Y.S.); (M.L.)
| | - Zhangyi Chen
- School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710000, China; (H.Z.); (L.W.); (Z.C.); (Y.S.); (M.L.)
| | - Yueyang Shi
- School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710000, China; (H.Z.); (L.W.); (Z.C.); (Y.S.); (M.L.)
| | - Shuai Zheng
- School of Software Engineering, Xi’an Jiaotong University, Xi’an 710000, China;
| | - Min Li
- School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710000, China; (H.Z.); (L.W.); (Z.C.); (Y.S.); (M.L.)
| |
Collapse
|
4
|
Sensors Allocation and Observer Design for Discrete Bilateral Teleoperation Systems with Multi-Rate Sampling. SENSORS 2022; 22:s22072673. [PMID: 35408287 PMCID: PMC9002628 DOI: 10.3390/s22072673] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 02/01/2022] [Revised: 03/25/2022] [Accepted: 03/28/2022] [Indexed: 12/10/2022]
Abstract
This study addresses sensor allocation by analyzing exponential stability for discrete-time teleoperation systems. Previous studies mostly concentrate on the continuous-time teleoperation systems and neglect the management of significant practical phenomena, such as data-swap, the effect of sampling rates of samplers, and refresh rates of actuators on the system's stability. A multi-rate sampling approach is proposed in this study, given the isolation of the master and slave robots in teleoperation systems which may have different hardware restrictions. This architecture collects data through numerous sensors with various sampling rates, assuming that a continuous-time controller stabilizes a linear teleoperation system. The aim is to assign each position and velocity signals to sensors with different sampling rates and divide the state vector between sensors to guarantee the stability of the resulting multi-rate sampled-data teleoperation system. Sufficient Krasovskii-based conditions will be provided to preserve the exponential stability of the system. This problem will be transformed into a mixed-integer program with LMIs (linear matrix inequalities). These conditions are also used to design the observers for the multi-rate teleoperation systems whose estimation errors converge exponentially to the origin. The results are validated by numerical simulations which are useful in designing sensor networks for teleoperation systems.
Collapse
|
5
|
Pispero A, Marcon M, Ghezzi C, Massironi D, Varoni EM, Tubaro S, Lodi G. Posture Assessment in Dentistry for Different Visual Aids Using 2D Markers. SENSORS 2021; 21:s21227717. [PMID: 34833788 PMCID: PMC8619426 DOI: 10.3390/s21227717] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 08/24/2021] [Revised: 10/13/2021] [Accepted: 10/23/2021] [Indexed: 11/19/2022]
Abstract
Attention and awareness towards musculoskeletal disorders (MSDs) in the dental profession has increased considerably in the last few years. From recent literature reviews, it appears that the prevalence of MSDs in dentists concerns between 64 and 93%. In our clinical trial, we have assessed the dentist posture during the extraction of 90 third lower molars depending on whether the operator performs the intervention by the use of the operating microscope, surgical loupes, or with the naked eye. In particular, we analyzed the evolution of the body posture during different interventions evaluating the impact of visual aids with respect to naked eye interventions. The presented posture assessment approach is based on 3D acquisitions of the upper body, based on planar markers, which allows us to discriminate spatial displacements up to 2 mm in translation and 1 degree in rotation. We found a significant reduction of neck bending in interventions using visual aids, in particular for those performed with the microscope. We further investigated the impact of different postures on MSD risk using a widely adopted evaluation tool for ergonomic investigations of workplaces, named (RULA) Rapid Upper Limb Assessment. The analysis performed in this clinical trial is based on a 3D marker tracker that is able to follow a surgeon’s upper limbs during interventions. The method highlighted pros and cons of different approaches.
Collapse
Affiliation(s)
- Alberto Pispero
- Azienda Ospedaliera Santi Paolo e Carlo, Unità Operativa Complessa Odontostomatologia II, Università degli Studi di Milano, Via Beldiletto 1/3, 20142 Milan, Italy; (A.P.); (E.M.V.); (G.L.)
| | - Marco Marcon
- Dipartimento di Elettronica, Informazione e Bioingegneria (DEIB), Politecnico di Milano, Piazza Leonardo da Vinci, 32, 20133 Milan, Italy;
- Correspondence:
| | - Carlo Ghezzi
- Private Practice, Via G. Verdi 4, 20019 Settimo Milanese, Italy;
| | | | - Elena Maria Varoni
- Azienda Ospedaliera Santi Paolo e Carlo, Unità Operativa Complessa Odontostomatologia II, Università degli Studi di Milano, Via Beldiletto 1/3, 20142 Milan, Italy; (A.P.); (E.M.V.); (G.L.)
| | - Stefano Tubaro
- Dipartimento di Elettronica, Informazione e Bioingegneria (DEIB), Politecnico di Milano, Piazza Leonardo da Vinci, 32, 20133 Milan, Italy;
| | - Giovanni Lodi
- Azienda Ospedaliera Santi Paolo e Carlo, Unità Operativa Complessa Odontostomatologia II, Università degli Studi di Milano, Via Beldiletto 1/3, 20142 Milan, Italy; (A.P.); (E.M.V.); (G.L.)
| |
Collapse
|
6
|
Portable, open-source solutions for estimating wrist position during reaching in people with stroke. Sci Rep 2021; 11:22491. [PMID: 34795346 PMCID: PMC8602299 DOI: 10.1038/s41598-021-01805-2] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/10/2021] [Accepted: 10/26/2021] [Indexed: 12/29/2022] Open
Abstract
Arm movement kinematics may provide a more sensitive way to assess neurorehabilitation outcomes than existing metrics. However, measuring arm kinematics in people with stroke can be challenging for traditional optical tracking systems due to non-ideal environments, expense, and difficulty performing required calibration. Here, we present two open-source methods, one using inertial measurement units (IMUs) and another using virtual reality (Vive) sensors, for accurate measurements of wrist position with respect to the shoulder during reaching movements in people with stroke. We assessed the accuracy of each method during a 3D reaching task. We also demonstrated each method's ability to track two metrics derived from kinematics-sweep area and smoothness-in people with chronic stroke. We computed correlation coefficients between the kinematics estimated by each method when appropriate. Compared to a traditional optical tracking system, both methods accurately tracked the wrist during reaching, with mean signed errors of 0.09 ± 1.81 cm and 0.48 ± 1.58 cm for the IMUs and Vive, respectively. Furthermore, both methods' estimated kinematics were highly correlated with each other (p < 0.01). By using relatively inexpensive wearable sensors, these methods may be useful for developing kinematic metrics to evaluate stroke rehabilitation outcomes in both laboratory and clinical environments.
Collapse
|
7
|
Škulj G, Vrabič R, Podržaj P. A Wearable IMU System for Flexible Teleoperation of a Collaborative Industrial Robot. SENSORS 2021; 21:s21175871. [PMID: 34502761 PMCID: PMC8434127 DOI: 10.3390/s21175871] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 07/23/2021] [Revised: 08/23/2021] [Accepted: 08/28/2021] [Indexed: 11/24/2022]
Abstract
Increasing the accessibility of collaborative robotics requires interfaces that support intuitive teleoperation. One possibility for an intuitive interface is offered by wearable systems that measure the operator’s movement and use the information for robot control. Such wearable systems should preserve the operator’s movement capabilities and, thus, their ability to flexibly operate in the workspace. This paper presents a novel wireless wearable system that uses only inertial measurement units (IMUs) to determine the orientation of the operator’s upper body parts. An algorithm was developed to transform the measured orientations to movement commands for an industrial collaborative robot. The algorithm includes a calibration procedure, which aligns the coordinate systems of all IMUs, the operator, and the robot, and the transformation of the operator’s relative hand motions to the movement of the robot’s end effector, which takes into account the operator’s orientation relative to the robot. The developed system is demonstrated with an example of an industrial application in which a workpiece needs to be inserted into a fixture. The robot’s motion is compared between the developed system and a standard robot controller. The results confirm that the developed system is intuitive, allows for flexible control, and is robust enough for use in industrial collaborative robotic applications.
Collapse
|