Asimov: Android based mobile assistant for robotic teleoperation

Abstract

Teleoperated systems are becoming more present in medical applications. Its use goes from patients rehabilitation, medication storage and the management of biological hazardous materials, to minimally invasive surgery. This paper, presents the implementation of an Android based mobile application -Asimov- for remote control of an industrial robotic arm KUKA KR6, through WiFi technology. The application is a control tool for the robotic manipulator as an alternative to the Teach Pendant system provided by the manufacturer. The application functions and additional options are presented. Tests to nine people including health area personnel were performed, aiming to compare Asimov and Teach Pendant System. The evaluation of the results and the use of Wilcoxon signed rank test allowed to appreciate a better assessment for Asimov in the following criteria: ease of learning, usability, graphic interface and comfort. Significant differences in the last two benchmarks were found.