scholarly journals Robotic Leg Illusion: System Design and Human-in-the-Loop Evaluation

2019 ◽  
Vol 49 (4) ◽  
pp. 372-380
Author(s):  
Dimitri Penner ◽  
Anna M. H. Abrams ◽  
Philipp Overath ◽  
Joachim Vogt ◽  
Philipp Beckerle
Keyword(s):  
System Design ◽  
Human In The Loop ◽  
Robotic Leg

scholarly journals A Passivity-Based System Design of Semi-Autonomous Cooperative Robotic Swarm

2017 ◽  
Vol 139 (06) ◽  
pp. S14-S18
Author(s):  
Takeshi Hatanaka ◽  
Nikhil Chopra ◽  
Junya Yamauchi ◽  
Mamoru Doi ◽  
Yasunori Kawai ◽  
...  
Keyword(s):  
Remote Control ◽  
System Design ◽  
Information Flows ◽  
Bilateral Teleoperation ◽  
Interconnected System ◽  
Human In The Loop ◽  
Control Goal ◽  
Robotic Swarm ◽  
System Information ◽  
Identification Techniques

This article presents a novel semiautonomous cooperative robotic system. Information flows in the architecture are designed based on the passivity property. The human passivity needed to guarantee the control goal is demonstrated using a human-in-the-loop simulator and system identification techniques. As a solution to stable coordination via bilateral human–swarm interactions, the research group built the system consisting of multiple planar robots, an operator and a computer whose role is to implement the distributed motion synchronization law. Experimental results on remote control of the robots are finally demonstrated. A typical approach to stabilization of an interconnected system that includes a highly uncertain component like a human operator is to assume passivity of the component block. Specifically, modeling of the operator has been addressed in this manner for several studies in bilateral teleoperation. It is observed from the figures provided in the article that the robots form and maintain the specified formation while they are maneuvered stably toward the desired references by the operator.

Safe Human–Robot Interaction in Medical Robotics: A case study on Robotic Fracture Surgery System

2017 ◽  
Vol 02 (03) ◽  
pp. 1740008 ◽  
Author(s):  
Ioannis Georgilas ◽  
Giulio Dagnino ◽  
Sanja Dogramadzi
Keyword(s):  
Human Factors ◽  
System Design ◽  
Information Flow ◽  
Process Analysis ◽  
Medical Robotics ◽  
Human Robot Interaction ◽  
Robot Interaction ◽  
Human In The Loop ◽  
Fracture Surgery

This paper presents a safety analysis of a Robotic Fracture Surgery System using the Systems-Theoretic Process Analysis (STPA). It focuses particularly on hazards caused by the human in the loop. The robotic system and operating staff are modeled including information flow between different components of the system. The analysis has generated a set of requirements for the system design that can ultimately mitigate the identified hazards, as well as a preliminary set of human factors that can improve safety.

Mixed Autonomous/Teleoperation Control of Asymmetric Robotic Systems

2014 ◽  
Vol 2 (1) ◽  
pp. 35-60
Author(s):  
Pawel Malysz ◽  
Shahin Sirouspour
Keyword(s):  
System Design ◽  
Control Strategy ◽  
Autonomous Control ◽  
Robotic Systems ◽  
System Configuration ◽  
Unified Framework ◽  
Human In The Loop ◽  
Force Tracking ◽  
High Level ◽  
And Control

This paper presents a unified framework for system design and control in human-in-the-loop asymmetric robotic systems. It introduces a highly general teleoperation system configuration involving any number of operators, haptic interfaces, and robots with possibly different degrees of mobility. The proposed framework allows for mixed teleoperation/autonomous control of user-defined subtasks by establishing position/force tracking as well as kinematic constraints among relevant teleoperation control frames. The control strategy is hierarchical comprising of a high-level teleoperation coordinating controller and low-level joint velocity controllers. The approach utilizes idempotent, generalized pseudoinverse and weighting matrices in order to achieve new performance objectives that are defined for such asymmetric semi-autonomous teleoperation systems. Three layers of velocity-based autonomous control at different priority levels with respect to human teleoperation are integrated into the framework. A detailed analysis of system performance and stability is presented. Experimental results with a single-master/dual-slave system configuration demonstrate an application of the proposed system design and control strategy.

System Design: What, Why, and How

1993 ◽  
Vol 38 (1) ◽  
pp. 101-102
Author(s):  
Charles G. Halcomb
Keyword(s):  
System Design
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