SUPER-MAN: SUPERnumerary robotic bodies for physical assistance in huMAN–robot conjoined actions

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics Pub Date : 2024-08-12 DOI:10.1016/j.mechatronics.2024.103240

Alberto Giammarino, Juan M. Gandarias, Pietro Balatti, Mattia Leonori, Marta Lorenzini, Arash Ajoudani

{"title":"SUPER-MAN: SUPERnumerary robotic bodies for physical assistance in huMAN–robot conjoined actions","authors":"Alberto Giammarino, Juan M. Gandarias, Pietro Balatti, Mattia Leonori, Marta Lorenzini, Arash Ajoudani","doi":"10.1016/j.mechatronics.2024.103240","DOIUrl":null,"url":null,"abstract":"<div><p>This paper presents a mobile supernumerary robotic approach to physical assistance in human–robot conjoined actions. The study starts with the description of the SUPER-MAN concept. The idea is to develop and utilize mobile collaborative systems that can follow human loco-manipulation commands to perform industrial tasks through three main components: (i) an admittance-type interface, (ii) a human–robot interaction controller and (iii) a supernumerary robotic body. Next, we present two possible implementations within the framework — from theoretical and hardware perspectives. The first system is called MOCA-MAN, and is composed of a redundant torque-controlled robotic arm and an omni-directional mobile platform. The second one is called Kairos-MAN, formed by a high-payload 6-DoF velocity-controlled robotic arm and an omni-directional mobile platform. The systems share the same admittance interface, through which user wrenches are translated to loco-manipulation commands, generated by whole-body controllers of each system. Besides, a thorough user-study with multiple and cross-gender subjects is presented to reveal the quantitative performance of the two systems in effort demanding and dexterous tasks. Moreover, we provide qualitative results from the NASA-TLX questionnaire to demonstrate the SUPER-MAN approach’s potential and its acceptability from the users’ viewpoint.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"103 ","pages":"Article 103240"},"PeriodicalIF":3.1000,"publicationDate":"2024-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Mechatronics","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0957415824001053","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}

引用次数: 0

Abstract

This paper presents a mobile supernumerary robotic approach to physical assistance in human–robot conjoined actions. The study starts with the description of the SUPER-MAN concept. The idea is to develop and utilize mobile collaborative systems that can follow human loco-manipulation commands to perform industrial tasks through three main components: (i) an admittance-type interface, (ii) a human–robot interaction controller and (iii) a supernumerary robotic body. Next, we present two possible implementations within the framework — from theoretical and hardware perspectives. The first system is called MOCA-MAN, and is composed of a redundant torque-controlled robotic arm and an omni-directional mobile platform. The second one is called Kairos-MAN, formed by a high-payload 6-DoF velocity-controlled robotic arm and an omni-directional mobile platform. The systems share the same admittance interface, through which user wrenches are translated to loco-manipulation commands, generated by whole-body controllers of each system. Besides, a thorough user-study with multiple and cross-gender subjects is presented to reveal the quantitative performance of the two systems in effort demanding and dexterous tasks. Moreover, we provide qualitative results from the NASA-TLX questionnaire to demonstrate the SUPER-MAN approach’s potential and its acceptability from the users’ viewpoint.

Abstract Image

查看原文本刊更多论文

超人：在胡曼-机器人联合行动中提供物理辅助的超数机器人机构

本文介绍了一种在人与机器人联合行动中提供物理辅助的移动编外机器人方法。研究首先描述了超级人的概念。其理念是开发和利用移动协作系统，该系统可通过三个主要组件，按照人类的定位操纵指令执行工业任务：(i) 接纳式界面，(ii) 人机交互控制器，(iii) 超级机器人躯体。接下来，我们将从理论和硬件角度介绍该框架内两种可能的实现方式。第一个系统名为 MOCA-MAN，由一个冗余扭矩控制机械臂和一个全向移动平台组成。第二个系统称为 Kairos-MAN，由一个高负载 6-DoF 速度控制机械臂和一个全向移动平台组成。这两个系统共用同一个导纳接口，用户的扳手通过该接口转换为由每个系统的全身控制器生成的机械操纵指令。此外，我们还对多个不同性别的受试者进行了深入的用户研究，以揭示这两种系统在完成费力和灵巧任务时的定量性能。此外，我们还提供了 NASA-TLX 问卷调查的定性结果，以证明超级人方法的潜力及其从用户角度看的可接受性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

Mechatronics 工程技术-工程：电子与电气

CiteScore

5.90

自引率

9.10%

发文量

审稿时长

109 days

期刊介绍： Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.