2 edition of Eye position interface to the manus manipulator. found in the catalog.
Eye position interface to the manus manipulator.
Anastasia Cheetham
Published
1995
by National Library of Canada in Ottawa
.
Written in
Edition Notes
Thesis (M.A.Sc.) -- University of Toronto, 1995.
| Series | Canadian theses = -- Thèses canadiennes |
| The Physical Object | |
|---|---|
| Pagination | 2 microfiches : negative. -- |
| ID Numbers | |
| Open Library | OL17909443M |
| ISBN 10 | 061207739X |
This article addresses the visual servoing of a rigid robotic manipulator equipped with a binocular vision system in eye-to-hand configuration. The control goal is to move the robot end-effector to a visually determined target position precisely without knowing the precise camera model. Many vision-based robotic positioning systems have been. We have introduced a novel system for the control of assistive robotic manipulators, that makes use of both robot autonomy and a body-machine interface. We conducted a user study with six participants (one SCI and five uninjured control individuals) and all participants were able to use the system to successfully perform a manipulation task.
UCF MANUS Robotic Manipulator System. Several interface options has The visual characteristics are analyzed using the eye-in-hand camera and force sensitive resistors placed on the robotic arm and the end-effector respectively. These methods poses a serious problem that. This paper presents the design, modeling and control of a fully actuated aerial robot for infrastructure contact inspection as well as its localization system. Health assessment of transport infrastructure involves measurements with sensors in contact with the bridge and tunnel surfaces and the installation of monitoring sensing devices at specific points. The design of the aerial robot.
Both the manipulator and the controller are marked with several safety and information labels, containing important information about th e product. The information is useful for all personnel handling the manipulator system, for example during installation, service, or operation. The safety labels are language independent, they only use graphics. In this study, subjects were able to perform real-time control of an interface using six eye movements and play a video game with three eye movement based commands. Because the resting position of human eyes is forward-facing, we return our eyes back to the center position .
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Tijsma, H.A. et al., Manus, 'a helping hand' designing a new intuitive user interface for the manus robot arm, masters thesis A Delft University of technology, p. The device consists of a Manus manipulator mounted on a static base.
A catadioptric vision sensor, called the panoramic camera, b is fixed at the top of the robotic arm's base to give a global view of the mobile manipulator surrounding environment.
A ° image of the robotic arm's surrounding environment lets the user select the desired Cited by: Two commercialized assistive robotic manipulators (Manus ARM and JACO manipulator, shown in Fig.
1) are both WMRMs with more than six DOF and minimized fold-in position. The Manus ARM (Assistive Robotic Manipulator) has a two-finger gripper manufactured by Exact Dynamics (Didom, The Netherlands), which also manufactures an updated version Cited by: The Manus manipulator is a wheelchair mounted assistive device for severely motor disabled persons.
It is a six degrees of freedom rehabilitation robot (excluding external lift and gripper) of. Eye-mouse, shoulder/head interface, EMG signal-based control subsystems are used for Eye position interface to the manus manipulator.
book purpose. interactive studies are under way to adapt the con-trol of the MANUS Manipulator for chil. Biomuse interface to Manus Many potential rehabilitation robotics users are unable to use traditional input devices such as switches and joysticks.
The goal of the Eye Position Interface project was to evaluate the feasibility of using eye position information to control a rehabilitation robot (Cheetham et aI., ; Cheetham, ). MANUS is a wheelchair-mounted general-purpose manipulator now in use with over people in their homes in the Netherlands, in France and in other countries.
MANUS has six main degrees of freedom. New user interface features and a new user interface for the MANUS robot arm, were designed in order to reduce the high cognitive and physical load that users experience when controlling the MANUS.
Task Completion Time with Voice Control Interface Even with the small sample size, as shown in Figure 4, 5 and 6, we observed that, overall, touch screen interface have the fastest performance followed by 3D joystick and voice control interface.
In addition, the relative performance advantage of AROMA-V was found most significantly when it is. manipulator provides an effective visual interface for WMRM control [2, 3, 14]. The vision-based system for the UCF-MANUS using a touchscreen interface was equivalent to other input modalities but significantly better than trackball operation [3].
We developed an upper limb gesture recognition system to. The user is always able to modify the course of ongoing action or to stop the movement of the system. An external com- puter can be connected to the manipulator's con- trol-box via serial interface, but is only necessary Fig.
The MANUS manipulator and its area of travel. to build new control-procedures or new configu- rations. 1. Introduction. Wheelchair-mounted robotic manipulators (WMRMs) have been developed to assist users with motor impairments to accomplish activities of daily living (ADL), such as feeding, dressing, and retrieval of daily objects ().WMRMs can improve operational functions of users with upper extremity motor impairments (UEMIs) and reduce their needs for human assistance (Redwan.
Senhance’s eye-sensing system assists the surgeon in positioning the endoscope and the attached manipulator arm or navigating the functions area of the console monitor. The surgeon can also choose to use the trackpad and handles at the console to move the endoscope instead of taking advantage of eye sensing.
solution of a set of PDEs, was to the problem of joint flexibility in robot manipulators [4]. Joint flexibility had previously been identified as the major limiting factor to manipulator performance, and it remains an important component of robot dynamics and control.
Another line of. We developed an assistive-robotic-arm system which autonomously grasps a cup and brings it to the user's mouth. It was developed as a prototype of meal-assistance robot.
We utilized two heterogeneous eye-in-hand cameras. One is the front-camera capturing objects, and the other is the side-camera capturing the user's face. The latter keeps an occlusion-free view even during the object bringing. This paper attempts to present a comprehensive summary of research results in the use of visual information to control robot manipulators and related mechanisms.
An extensive bibliography is provided which also includes important papers from the elemental disciplines upon which visual servoing is based.
In this paper, we introduce a meal-assistance system that enables a general-purpose mobile manipulator, a PR2 robot, to provide safe, easy-to-use assistance with feeding (see Fig.
1).The system provides active feeding assistance in which the PR2 uses visually-guided movements to autonomously scoop/stab food and deliver the food inside a user’s mouth.
Finally, the hand-eye relative position vector can be obtained by making the camera do rotary movement twice. Matlab and VC++ software will be used to achieve the algorithm of calibration.
A more convenient and effective hand-eye calibration software system will be given by taking full advantage of visual interface of VC++ and convenience of.
This research is part of the development of a multi-agent control architecture of mobile manipulators. The control architecture consists of six agents: Supervisory, Local Mobile Robot, Local Manipulator Robot, Vision System, Remote Mobile Robot and Remote Manipulator Robot.
The first four agents are installed on an off-board PC while the two others are installed on the on-board PC of the robot. This book is intended to provide an in-depth study of control systems for serial-link robot arms.
It is a revised and expended version of our book. Chapters have been added on commercial robot manipulators and devices, neural network intelligent control, and implementation of advanced controllers on actual robotic systems.
points in the left eye and the right eye, which are necessary to perform the y- and z-position. The user interface created allows the user to detect the object of interest, approach it with a Figure shows an altered Manus Manipulator [3] equipped with a single camera attached to the end of its end-effector.
Currently, there is no vision. The system can be repositioned with one hand and uses magnetic brakes to hold the position. A compact endoscope manipulator was developed in France (fig.
(fig.2c) 2c) and later on named the ViKY robotic scope holder (Endocontrol, Grenoble, France) [8, 9]. The ViKY system is controlled by the surgeon using a pedal or vocal commands, allowing for.The developed mobile manipulator is primarily composed of a mobile base, a robot manipulator and an eye-in-hand vision system.
The material handling of a mobile manipulator has two stages: guiding the mobile base between stations, and picking up a workpiece from a station. Fast landmark recognition and obstacle detection based on color segmentation are proposed for path following, obstacle.
