91 research outputs found
CARRT - Motion Capture Data for Robotic Human Upper Body Model
No full textAs advancements in the study of human activity have progressed in recent years, researchers have directed their attention towards analyzing human daily activities to investigate a diverse range of performance metrics unconsciously optimized by individuals while engaged in specific tasks. To replicate these movements in robotic systems based on human models, researchers have developed a framework for robot motion planning capable of utilizing various optimization methods to reproduce such motions through human demonstrations. In this process, capturing the movements of the human body and the objects involved in the demonstrations is imperative, as they provide essential information for the motion planning procedure. The objective of this dataset is to present human motion data while performing activities of daily living. This dataset encompasses comprehensive and precise whole-body motion data of individuals collected using a Vicon motion capture system, which facilitated the development of a full-body model integrated into OpenSim and MATLAB. The dataset comprises nine different daily living activities and eight Range of Motion activities performed by ten healthy participants. A publicly accessible whole-body human motion database has been established, encompassing raw motion data in .c3d format, motion data in .csv format for the OpenSim model, and post-processed motion data for the MATLAB model
Maximizing Manipulation Capabilities of Persons with Disabilities Using a Smart 9-Degree-of-Freedom Wheelchair-Mounted Robotic Arm System
No full textPhysical and cognitive disabilities make it difficult or impossible to perform simple personal or job-related tasks. The primary objective of this research and development effort is to assist persons with physical disabilities to perform activities of daily living (ADL) using a smart 9-degrees-of-freedom (DOF) modular wheelchair-mounted robotic arm system (WMRA).
The combination of the wheelchair\u27s 2-DoF mobility control and the robotic arm\u27s 7-DoF manipulation control in a single control mechanism allows people with disabilities to do many activities of daily living (ADL) tasks that are otherwise hard or impossible to accomplish. Different optimization methods for redundancy resolution are explored and modified to fit the new system with combined mobility and manipulation control and to accomplish singularity and obstacle avoidance as well as other optimization criteria to be implemented on the new system. The resulting control algorithm of the system is tested in simulation using C++ and Matlab codes to resolve any issues that might occur during the testing on the physical system. Implementation of the combined control is done on the newly designed robotic arm mounted on a modified power wheelchair and with a custom designed gripper.
The user interface is designed to be modular to accommodate any user preference, including a haptic device with force sensing capability, a spaceball, a joystick, a keypad, a touch screen, head/foot switches, sip and puff devices, and the BCI 2000 that reads the electromagnetic pulses coming out of certain areas of the brain and converting them to control signals after conditioning.
Different sensors (such as a camera, proximity sensors, a laser range finder, a force/torque sensor) can be mounted on the WMRA system for feedback and intelligent control. The user should be able to control the WMRA system autonomously or using teleoperation. Wireless Bluetooth technology is used for remote teleoperation in case the user is not on the wheelchair. Pre-set activities of daily living tasks are programmed for easy and semi-autonomous execution
Maximizing Manipulation Capabilities for People with Disabilities Using a 9-DoF Wheelchair-Mounted Robotic Arm System
No full textA 9-DoF Wheelchair-Mounted Robotic Arm System: Design, Control, Brain-Computer Interfacing, and Testing
No full textWeighted singularity-robust inverse with criterion function optimization of redundant mobile manipulators in 3D space with defense applications
No full textControl of a 9-DoF Wheelchair-Mounted Robotic Arm System
No full textA wheelchair-mounted robotic arm (WMRA) system was designed and built to meet the needs of mobility-impaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this type. The control of this 9- DoF system expands on the conventional control methods and combines the 7-DoF robotic arm control with the 2-DoF power wheelchair control. The 3-degrees of redundancy are optimized to effectively perform activities of daily living (ADLs) and overcome singularities, joint limits and some workspace limitations. The control system is designed for teleoperated or autonomous coordinated Cartesian control, and it offers expandability for future research, such as voice or sip and puff control operations and sensor assist functions
Combined Mobility and Manipulation Control of a Newly Developed 9-DOF Wheelchair-Mounted Robotic Arm System
No full textA New 9-DoF Mobile Robotic Device to Enhance the Capabilities of People With Disabilities
No full textKinematics, control and redundancy resolution of a 9-DoF wheelchair-mounted robotic arm system for ADL tasks
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