Enabling impedance-based physical human–multi–robot collaboration: Experiments with four torque-controlled manipulators

Robotics research into multi-robot systems so far has concentrated on implementing intelligent swarm behavior and contact-less human interaction. Studies of haptic or physical human-robot interaction, by contrast, have primarily focused on the assistance offered by a single robot. Consequently, our understanding of the physical interaction and the implicit communication through contact forces between a human and a team of multiple collaborative robots is limited. We here introduce the term Physical Human Multi-Robot Collaboration (PHMRC) to describe this more complex situation, which we consider highly relevant in future service robotics. The scenario discussed in this article covers multiple manipulators in close proximity and coupled through physical contacts. We represent this set of robots as fingers of an up-scaled agile robot hand. This perspective enables us to employ model-based grasping theory to deal with multi-contact situations. Our torque-control approach integrates dexterous multi-manipulator grasping skills, optimization of contact forces, compensation of object dynamics, and advanced impedance regulation into a coherent compliant control scheme. For this to achieve, we contribute fundamental theoretical improvements. Finally, experiments with up to four collaborative KUKA LWR IV+ manipulators performed both in simulation and real world validate the model-based control approach. As a side effect, we notice that our multi-manipulator control framework applies identically to multi-legged systems, and we execute it also on the quadruped ANYmal subject to non-coplanar contacts and human interaction.

Design and Compliant Control of a Piggyback Transfer Robot

Patient transfer, such as lifting and moving a bedridden patient from a bed to a wheelchair or a pedestal pan, is one of the most physically challenging tasks in nursing care. Although many transfer devices have been developed, they are rarely used because of the large time consumption in performing transfer tasks and the lack of safety and comfortableness. We developed a piggyback transfer robot that can conduct patient transfer by imitating the motion when a person holds another person on his/her back. The robot consisted of a chest holder that moves like a human back. In this paper, we present an active stiffness control approach for the motion control of the chest holder, combined with a passive cushion, for lifting a care-receiver comfortably. A human-robot dynamic model was built and a subjective evaluation was conducted to optimize the parameters of both the active stiffness control and the passive cushion of the chest holder. The test results of 10 subjects demonstrated that the robot could transfer a subject safely and the combination of active stiffness and passive stiffness were essential to a comfortable transfer. The objective evaluation demonstrated that an active stiffness of k= 4 kPa/mm along with a passive stiffness lower than the stiffness of human chest was helpful for a comfort feeling.

20-Week Study of Clinical Outcomes of Over-the-Counter COVID-19 Prophylaxis and Treatment

Objectives and Setting. As the lethal COVID-19 pandemic enters its second year, the need for effective modalities of alleviation remains urgent. This includes modalities that can readily be used by the public to reduce disease spread and severity. Such preventive measures and early-stage treatments may temper the immediacy of demand for advanced anti-COVID measures (drugs, antibodies, vaccines) and help relieve strain also on other health system resources. Design and Participants. We present results of a clinical study with a multi-component OTC “core formulation” regimen used in a multiply exposed adult population. Analysis of clinical outcome data from our sample of over 100 subjects − comprised of roughly equal sized regimen-compliant (test) and non-compliant (control) groups meeting equivalent inclusion criteria − demonstrates a strong statistical significance in favor of use of the core formulations. Results. While both groups were moderate in size, the difference between them in outcomes over the 20-week study period was large and stark: Just under 4% of the compliant test group presented flu-like symptoms, but none of the test group was COVID-positive; whereas 20% of the non-compliant control group presented flu-like symptoms, three-quarters of whom (15% overall of the control group) were COVID-positive. Conclusions. Offering a low cost, readily implemented anti-viral approach, the study regimen may serve, at the least, as a stopgap modality and, perhaps, as a useful tool in combatting the pandemic.

Histological aberrations and mode of damage of cowpea (Vigna unguiculata) by Colletotrichum destructivum

Enyiukwu DN, Amadioha AC, Ononuju CC. 2020. Histological aberrations and mode of damage of cowpea (Vigna unguiculata) by Colletotrichum destructivum. Nusantara Bioscience 13: 16-23. Leaf and stem of healthy 2-week old cowpea (Vigna unguiculata L. Walp.) seedlings were inoculated with spore suspension of the Colletotrichum destructivum O’Gara. Sections of the infection courts were prepared and examined under digital microscope. The results showed that the infection process began 12 hours after inoculation (hai) with the germination of spores of the fungus. Large multi-lobed primary hypha (somewhat spherical in shape) developed from the infection peg and remained inside a single epithelial cell for about 3 days. Towards the end of this time, the primary hyphae developed thin filamentous tentacles that punctured and branched into adjoining cells, initiating necrotrophic phase of the disease. During this period, typical anthracnose symptoms began to develop on the infected organs of the crop. The entire infection process lasted a maximum of 96 h, at the end of which acervulus that bore a single seta emerged on infected crop lesions. The mechanism of damage of the pathogen involved intra-cellular and inter-cellular colonization of the host tissues early and late in the disease cycle. The integrity of the affected tissues' cells was compromised by passage and colonization of Colletotrichum destructivum O’Gara evidenced by lack of clear-cut middle lamella and cell boundaries. Anthracnose affected cells dispossessed of vital nutrients became turbid, devoid of turgidity and vigor. Thus, these results have strong implications for plant health management in that effective environment-compliant control of the fungus should be initiated on or before the third day following arrival of the conidia of the pathogen on the crop. Seeds are major agents of introduction of Colletotrichum spp. to disease-free locations. Findings from this study also support that strong trans-border control of seeds of the crop should be maintained since the pathogen is known to be seed-borne and demonstrates sufficient cross-infection of crop plants. Key words: Hemibiotrophy, Colletotrichum destructivum, Anthracnose, Cowpea, Hyphal colonization

Towards a More Robust Non-Rigid Robotic Joint

The following paper presents an improved, low cost, non-rigid joint that can be used in both robotic manipulators and leg-based traction robotic systems. This joint is an improvement over the previous one presented by the same authors because it is more robust. The design iterations are presented and the final system has been modeled including some nonlinear blocks. A control architecture is proposed that allows compliant control to be used under adverse conditions or in uncontrolled environments. The presented joint is a cost-effective solution that can be used when normal rigid joints are not suitable.