Technical Note: Advanced teleoperation testbed—A system you can see through

Robotica ◽  
1996 ◽  
Vol 14 (4) ◽  
pp. 457-461 ◽  
Author(s):  
David Hopper ◽  
Cliff Boddy ◽  
Dennis Reilly
Keyword(s):  
Systems Integration ◽  
Technical Note ◽  
Robotic System ◽  
Robotic Systems ◽  
Computer Interface ◽  
Special Consideration ◽  
Human Computer Interface ◽  
Hazardous Environments ◽  
Careful Design

SUMMARYTo remove humans from hazardous environments “good” teleoperated robotic systems are needed. “Good” is defined here to mean a system which is task centred and which is transparent to the user-in other words, a system you can see through. A teleoperated robotic system which strives towards this goal is described by way of illustration. The fundamentals that have helped to achieve this are: design and build from a task centred viewpoint, careful design of the Human Computer Interface(HCI) and special consideration for the systems integration task.

Development of an autonomous robotic system for beard shaving assistance of disabled people based on an adaptive force tracking impedance control

2021 ◽  
pp. 095440622098482
Author(s):  
Oladayo S Ajani ◽  
Samy FM Assal
Keyword(s):  
Impedance Control ◽  
Environmental Parameters ◽  
Robotic System ◽  
Robotic Systems ◽  
Full Potential ◽  
Robotic Assistance ◽  
Head Pose ◽  
Detection And Tracking ◽  
Control Scheme ◽  
Force Tracking

Recently, people with upper arm disabilities due to neurological disorders, stroke or old age are receiving robotic assistance to perform several activities such as shaving, eating, brushing and drinking. Although the full potential of robotic assistance lies in the use of fully autonomous robotic systems, these systems are limited in design due to the complexities and the associated risks. Hence, rather than the shared controlled or active robotic systems used for such tasks around the head, an adaptive compliance control scheme-based autonomous robotic system for beard shaving assistance is proposed. The system includes an autonomous online face detection and tracking as well as selected geometrical features-based beard region estimation using the Kinect RGB-D camera. Online trajectory planning for achieving the shaving task is enabled; with the capability of online re-planning trajectories in case of unintended head pose movement and occlusion. Based on the dynamics of the UR-10 6-DOF manipulator using ADAMS and MATLAB, an adaptive force tracking impedance controller whose parameters are tuned using Genetic Algorithm (GA) with force/torque constraints is developed. This controller can regulate the contact force under head pose changing and varying shaving region stiffness by adjusting the target stiffness of the controller. Simulation results demonstrate the system capability to achieve beard shaving autonomously with varying environmental parameters that can be extended for achieving other tasks around the head such as feeding, drinking and brushing.

scholarly journals Addressing the eye fixation problem in gaze tracking for human computer interface using the vestibulo-ocular reflex

2020 ◽  
Vol 21 ◽  
pp. 100488
Author(s):  
Adam Pantanowitz ◽  
Kimoon Kim ◽  
Chelsey Chewins ◽  
Isabel N.K. Tollman ◽  
David M. Rubin
Keyword(s):  
Computer Interface ◽  
Human Computer Interface ◽  
Gaze Tracking ◽  
Eye Fixation ◽  
Ocular Reflex ◽  
Vestibulo Ocular Reflex

Real time vision-based hand gesture estimation for a human-computer interface

1997 ◽  
Vol 28 (7) ◽  
pp. 76-88 ◽  
Author(s):  
Koichi Ishibuchi ◽  
Keisuke Iwasaki ◽  
Haruo Takemura ◽  
Fumio Kishino
Keyword(s):  
Real Time ◽  
Computer Interface ◽  
Hand Gesture ◽  
Human Computer Interface
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