scholarly journals A 3D head pointer: a manipulation method that enables the spatial position and posture for supernumerary robotic limbs

ACTA IMEKO ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 81
Author(s):  
Joi Oh ◽  
Fumihiro Kato ◽  
Iwasaki Yukiko ◽  
Hiroyasu Iwata
Keyword(s):  
Voice Recognition ◽  
Robotic Arm ◽  
Virtual Reality Environment ◽  
Head Mounted Display ◽  
3D Space ◽  
Pointing Device ◽  
Routine Tasks ◽  
Head Gestures ◽  
Time Required ◽  
Switching Method

This paper introduces a novel interface ‘3D head pointer’ for the operation of a wearable robotic arm in 3D space. The developed system is intended to assist its user in the execution of routine tasks while operating a robotic arm. Previous studies have demonstrated the difficulty a user faces in simultaneously controlling a robotic arm and their own hands. The proposed method combines a head-based pointing device and voice recognition to manipulate the position and orientation as well as to switch between these two modes. In a virtual reality environment, the position instructions of the proposed system and its usefulness were evaluated by measuring the accuracy of the instructions and the time required using a fully immersive head-mounted display (HMD). In addition, the entire system, including posture instructions with two switching methods (voice recognition and head gestures), was evaluated using an optical transparent HMD. The obtained results displayed an accuracy of 1.25 cm and 3.56° with the 20-s time span necessary for communicating an instruction. These results demonstrate that voice recognition is a more effective switching method than head gestures.

An Alternative Shelving Arrangement for Natural History Collection Objects to Optimize Space and Task Efficiency

2019 ◽  
Vol 33 (1) ◽  
pp. 55-72
Author(s):  
Adam E. Cohen ◽  
Dean A. Hendrickson ◽  
Melissa J. Casarez
Keyword(s):  
Natural History ◽  
Catalog Number ◽  
Natural History Collection ◽  
Routine Tasks ◽  
Time Required ◽  
Vertical Spacing ◽  
Task Efficiency ◽  
Physical Access ◽  
Partial Implementation ◽  
And Task

Abstract A taxonomic and alphabetic arrangement (TAA) of objects on shelves has prevailed in fluid-preserved natural history collections while they were managed by scientists for their own research. Now most collections are databased and internet-accessible to facilitate very different forms of research accomplished remotely by researchers who require less physical access to specimens. The collections staff who make those data available struggle to manage collection growth with limited space and budgets, while demands on them are increasing, necessitating task and space-efficient collection management solutions. We describe an alternative arrangement of objects based on their size and catalog number (OCA) that capitalizes on modern databases. Our partial implementation of this system facilitated pragmatic between-system comparisons of space use and staff time required for routine tasks. Our OCA allows 17% more jars to be stored in a given space than a TAA (not counting spaces left for growth), but adjusting vertical spacing of shelves could increase that to 115%. Ten of 15 staff tasks were more efficiently accomplished in the OCA section of the collection, and we propose ways to improve efficiency for three of the four tasks for which the TAA outperformed the OCA.

An Artificial-Intelligence-Based Semantic Assist Framework for Judicial Trials

2020 ◽  
Vol 7 (3) ◽  
pp. 531-540
Author(s):  
Yaohui JIN ◽  
Hao HE
Keyword(s):  
Artificial Intelligence ◽  
Image Classification ◽  
Text Processing ◽  
Common Knowledge ◽  
Voice Recognition ◽  
Complex Task ◽  
Improve Efficiency ◽  
Trial Process ◽  
Routine Tasks ◽  
Automation Tools

AbstractDue to their success in routine tasks such as voice recognition, image classification, and text processing, extensive attention has been aroused on how to use artificial intelligence (AI)-based automation tools in the judicial-trial process to improve efficiency. Meanwhile, judicial trial is a complex task that requires accurate insight and subtle analysis of the cases, law, and common knowledge. Applying the results provided by AI-based automation tools directly to the judicial-trial process is controversial due to their irregular logic and low accuracy. Based on this observation, this article investigates the logic underlined in judicial trials and the technical characteristics of AI, and proposes an AI-based semantic assist approach for judicial trials that is logical and transparent to the judges.

scholarly journals Collaborative Robot as Scrub Nurse

2021 ◽  
Vol 7 (1) ◽  
pp. 162-165
Author(s):  
Deutschland Muralidhar ◽  
Shiva Sirasala ◽  
Venkata Jammalamadaka ◽  
Moritz Spiller ◽  
Thomas Sühn ◽  
...  
Keyword(s):  
Voice Recognition ◽  
Surgical Instruments ◽  
Robotic Arm ◽  
Medical Procedures ◽  
Surgical Instrument ◽  
Scrub Nurse ◽  
Noisy Environments ◽  
Future Work ◽  
Collaborative Robot

Abstract Under-staffing of nurses is a significant problem in most countries. It is expected to rise in the coming years, making it challenging to perform crucial tasks like assessing a patient's condition, assisting the surgeon in medical procedures, catheterization and Blood Transfusion etc., Automation of some essential tasks would be a viable idea to overcome this shortage of nurses. One such task intended to automate is the role of a 'Scrub Nurse' by using a robotic arm to hand over the surgical instruments. In this project, we propose to use a Collaborative Robotic-arm as a Scrub nurse that can be controlled with voice commands. The robotic arm was programmed to reach the specified position of the instruments placed on the table equipped with a voice recognition module to recognize the requested surgical instrument. When the Surgeon says "Pick Instrument", the arm picks up the instrument from the table and moves it over to the prior defined handover position. The Surgeon can take over the instrument by saying the command "Drop". Safe pathways for automatic movement of arm and handover position will be predefined by the Surgeon manually. This concept was developed considering the convenience of the Surgeon and the patient's safety, tested for collision, noisy environments, positioning failures and accuracy in grasping the instruments. Limitations that need to be considered in future work are the recognition of voice commands which as well as the returning of the instruments by the surgeon in a practical and safe way.

scholarly journals Safe Collaboration Between Human and Robot in a Context of Intermittent Haptique Interface

2021 ◽  
Author(s):  
Stanley Mugisha ◽  
Matteo Zoppi ◽  
Rezia Molfino ◽  
Vamsi Guda ◽  
Christine Chevallereau ◽  
...  
Keyword(s):  
Virtual Reality ◽  
Industrial Robots ◽  
Robotic Arm ◽  
Dominant Hand ◽  
Haptic Interfaces ◽  
Motion Generation ◽  
Object A ◽  
Head Mounted Display ◽  
Area Of Interest ◽  
The One

Abstract In the list of interfaces used to make virtual reality, haptic interfaces allow users to touch a virtual world with their hands. Traditionally, the user’s hand touches the end effector of a robotic arm. When there is no contact, the robotic arm is passive; when there is contact, the arm suppresses mobility to the user’s hand in certain directions. Unfortunately, the passive mode is never completely seamless to the user. Haptic interfaces with intermittent contacts are interfaces using industrial robots that move towards the user when contact needs to be made. As the user is immersed via a virtual reality Head Mounted Display (HMD), he cannot perceive the danger of a collision when he changes his area of interest in the virtual environment. The objective of this article is to describe movement strategies for the robot to be as fast as possible on the contact zone while guaranteeing safety. This work uses the concept of predicting the position of the user through his gaze direction and the position of his dominant hand (the one touching the object). A motion generation algorithm is proposed and then applied to a UR5 robot with an HTC vive tracker system for an industrial application involving the analysis of materials in the interior of a car.

scholarly journals Cognitive Assistance to Support Maintenance and Assembly Tasks: Results on Technology Acceptance of a Head-Mounted Device

2021 ◽  
pp. 276-284
Author(s):  
Cornelia Gerdenitsch ◽  
Lisa Deinhard ◽  
Bettina Kern ◽  
Philipp Hold ◽  
Sebastian Egger-Lampl
Keyword(s):  
Assistive Technology ◽  
Technology Acceptance ◽  
Ease Of Use ◽  
Perceived Usefulness ◽  
Perceived Ease Of Use ◽  
Head Mounted Display ◽  
Head Mounted Displays ◽  
Routine Tasks ◽  
Willingness To Use ◽  
Assembly Tasks

AbstractThis paper presents a study investigating the user acceptance (i.e. the perceived ease of use, willingness to use the system over time, and perceived usefulness) of a smart head-mounted device that can be used as assistive technology for maintenance and assembly. In particular, we focus on the head-mounted display named HMT-1 from RealWear. The uniqueness of this technology is, among other things, that it offers the possibility to fold away the display with the instructions, allowing more control over the appearance of assistive content than in other head-mounted displays. Overall, 48 participants took part in this interview study. They mentioned some advantages (e.g., that the hands are free and that one can see the instructions while working on something else at the same time) and disadvantages of the technology (such as usability issues). They also suggested that the technology is suitable for non-routine tasks and tasks of medium-to-high complexity. Our findings highlight that a cognitive assistive technology is perceived as positive when direct assistance is available (in the visual field of the worker) with a possibility to control the system.

scholarly journals Control de brazo robótico clasificador mediante HMI y servidor Web

2019 ◽  
pp. 1-7
Author(s):  
Rafael Luna-Puente ◽  
Rosa Janette Peréz-Chimal ◽  
Carlos Hernández –Mosqueda ◽  
Jorge Ulises Muñoz-Minjarez
Keyword(s):  
Industry 4.0 ◽  
Complete System ◽  
Web Server ◽  
Robotic Arm ◽  
Monitoring And Control ◽  
Web Page ◽  
Routine Tasks ◽  
Machine Interface ◽  
And Control

The use of automated machines and its manipulation using artificial intelligence is increasingly common to perform routine tasks within the industrial field. The present work aims to show the automation of a robotic arm, its monitoring and control using a web server and a Human Machine Interface (HMI) screen. For this work a robotic arm MITSUBISHI was programmed for the classification of pieces based on their color. Subsequently, this system is monitored and controlled employing the programming of a web page and the design of an HMI created using the TIA-Portal software. As a result of this methodology, a complete system of industry 4.0 will be obtained, which can be implemented to control and monitor a robotic arm using a HMI screen and Web Server in the current industry. The systems used to carry out the control were a PLC S300 (cpu313C 2 DP) with ASI CP 343 2 DP network card, with 5 slaves, Keypad (Slave 1) Module 2DI (Slave 2), Optoreflexive Sensor (Slave 3) Set of valves FESTO (Slave 4) Modules2DI 2DO (Slave 5) 2DO an S1200 PLC (CPU 1214 C DC / DC / DC) an HMI screen (KTP600 Basic Mono DP) as color sort.

Application of spectral computing technics for color vision testing using virtual reality devices

2020 ◽  
Vol 2020 (15) ◽  
pp. 260-1-260-5
Author(s):  
Halina C. Cwierz ◽  
Francisco Diaz-Barrancas ◽  
Pedro J. Pardo ◽  
Angel Luis Perez ◽  
Maria Isabel Suero
Keyword(s):  
Virtual Reality ◽  
Virtual Environment ◽  
Color Vision ◽  
Game Engine ◽  
Virtual Reality Environment ◽  
Head Mounted Display ◽  
The World ◽  
Color Deficiency ◽  
Color Vision Deficiencies

Color deficiency tests are well known all over the world. However, there are not applications that attempt to simulate these tests with total color accuracy in virtual reality using spectral color computing. In this work a study has been made of the tools that exist in the market in VR environments to simulate the experience of users suffering from color vision deficiencies (CVD) and the VR tools that detect CVD. A description of these tools is provided and a new proposal is presented, developed using Unity Game Engine software and HTC Vive VR glasses as Head Mounted Display (HMD). The objective of this work is to assess the ability of normal and defective observers to discriminate color by means of a color arrangement test in a virtual reality environment. The virtual environment that has been generated allows observers to perform a virtual version of the Farnsworth-Munsell 100 Hue (FM 100) color arrangement test. In order to test the effectiveness of the virtual reality test, experiments have been carried out with real users, the results of which we will see in this paper.

Identifying the Pose Between a Head Mounted Display and a Head Pose Sensor

2000 ◽  
Author(s):  
Craig Reynolds ◽  
Louis J. Everett ◽  
Richard A. Volz
Keyword(s):  
Real World ◽  
Theoretical Basis ◽  
Virtual Reality Environment ◽  
Virtual Scene ◽  
The Real ◽  
Head Mounted Display ◽  
Real Scene ◽  
Head Mounted Displays ◽  
Virtual Display ◽  
Enhanced Reality

Abstract Head mounted displays (HMDs) are common hardware in a virtual reality environment. Sensors are commonly installed on the helmet to provide information about where the operator is looking. If the operator rotates the helmet, the virtual scene should rotate correspondingly. If the point of rotation (POR) of the operator’s head differs from the POR used to transform the image, the display may behave in bizarre ways. In “enhanced reality” and similar applications the virtual scene must also accurately correspond to the real world. When the virtual scene must accurately correspond to a real scene, it becomes necessary to accurately match the virtual display to the real world. A method for automatically collecting data to align these scenes is described and demonstrated in this paper. A theoretical basis for the method and experimental data are presented. Results indicate that the underlying assumptions of the theory are reasonable and that the errors in the method are reasonable.

Mathematical Model of the Painting Robot

2016 ◽  
Vol 843 ◽  
pp. 72-80 ◽  
Author(s):  
Michal Bruzl ◽  
Vyacheslav Usmanov ◽  
Pavel Svoboda ◽  
Rostislav Šulc
Keyword(s):  
Mathematical Model ◽  
Optimal Trajectory ◽  
Research Work ◽  
Robotic Arm ◽  
3D Space ◽  
Painting Robot ◽  
The Mathematical Model ◽  
Work First ◽  
Selection Of

The main objective of the research work was to construct a techno-mathematical model of the robotic arm for conducting painting work, which would streamline the speed and quality of work performed with respect to material savings. For research we chose a robotic arm that is commonly used in industrial production, and adapted it for our conditions. The mathematical model is designed to find the optimal trajectory for moving the robotic arm, where the emphasis is placed on minimizing the path length of motion of the robot ́s endpoint, thus reducing overall energy consumption for the building work. First, the optimal mathematical modeling method was chosen, it was selected according to conditions and parameters of the robotic arm. Thanks to the applied method we picked the software that helped to create the algorithm. Subsequently, a computer simulation and calculation of the optimal motion using a combination of virtual circles, sine and cosine theorem, was done. Further, we checked all relevant angles and calculation of the robotic arm rotation in space for each admissible variant. The last step was the selection of the optimal trajectory of the robotic arm in 3D space.

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