154 research outputs found
Gasrtopod assemblage from Early Permian limestones of Pristava at Javorniški Rovt (Jesenice)
No full textA Multi-Modal Feedback Communication Interface for Human Working Posture Adjustments
No full textThis paper studies non-physical feedback mechanisms to guide human workers toward ergonomic body postures. Specifically, the focus is to solve the tasks that involve no direct physical interaction between the human and the robotic system, therefore tactile guidance by the robot body is not feasible. We propose a multi-modal ergonomic posture guidance system that comprises visual feedback and speech-based audio feedback. We hypothesise that the proposed multi-modal system leads to better performance compared to uni-modal feedback systems when trying to guide users from one pose to another. To test the hypothesis we conducted an experiment that compared conditions with only audio feedback, only visual feedback and multi-modal feedback. In addition, we examined speech-based audio guidance in joint space and in endpoint space. The results showed that the speech-based feedback in joint space came out as the preferred audio feedback due to its ability to allow users to carry out efficient and coordinated inter-joint movements, especially in cases of high redundancy. Furthermore, the proposed multi-modal feedback system was superior compared to the other feedback modalities both in terms of objective measures and subjective measures.Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.Human-Robot Interactio
Towards multi-modal intention interfaces for human-robot co-manipulation
No full textPeternel L, Tsagarakis N, Ajoudani A. Towards multi-modal intention interfaces for human-robot co-manipulation. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE; 2016: 2663-2669
Adaptation of robot physical behaviour to human fatigue in human-robot co-manipulation
No full textPeternel L, Tsagarakis N, Caldwell D, Ajoudani A. Adaptation of robot physical behaviour to human fatigue in human-robot co-manipulation. In: Humanoid Robots (Humanoids), 2016 IEEE-RAS 16th International Conference on. IEEE; 2016: 489-494
Interactive Imitation Learning of Bimanual Movement Primitives
No full textPerforming bimanual tasks with dual robotic setups can drastically increase
the impact on industrial and daily life applications. However, performing a
bimanual task brings many challenges, like synchronization and coordination of
the single-arm policies. This article proposes the Safe, Interactive Movement
Primitives Learning (SIMPLe) algorithm, to teach and correct single or dual arm
impedance policies directly from human kinesthetic demonstrations. Moreover, it
proposes a novel graph encoding of the policy based on Gaussian Process
Regression (GPR) where the single-arm motion is guaranteed to converge close to
the trajectory and then towards the demonstrated goal. Regulation of the robot
stiffness according to the epistemic uncertainty of the policy allows for
easily reshaping the motion with human feedback and/or adapting to external
perturbations. We tested the SIMPLe algorithm on a real dual-arm setup where
the teacher gave separate single-arm demonstrations and then successfully
synchronized them only using kinesthetic feedback or where the original
bimanual demonstration was locally reshaped to pick a box at a different
height
Work protection on the example of port workers in Luka Rijeka d.d.
No full textLuka je vrlo specifično mjesto rada, gdje se radnik nalazi u nezahvalnoj i nerijetko opasnoj radnoj okolini. Iz tog razloga, od iznimne je važnosti da se pravila i norme zaštite na radu primjenjuje u luci i svakoj sličnoj radnoj okolini. U radu se analizira zaštita na radu na primjeru radnog mjesta lučkog radnika. Poduzeće Luka Rijeka d.d. vodi veliku i opsežnu brigu o sigurnosti njenih radnika, od pravilnih propisa, oznaka na radnom mjestu, zaštitne opreme i obuke lučkih radnika.The port is a very specific place of work where a worker is in an unhealthy and often dangerous work environment. For this reason, it is of utmost importance that the rules and standards of occupational safety apply to the port and any similar work environment. The paper analyzes the safety at work in the case of employment of port workers. The company Luka Rijeka d.d. leads a large and comprehensive care of the safety of its workers, the proper regulations, the code in the workplace, safety equipment and training of port workers
Damping Design for Robot Manipulators
No full textThis paper studies the tuning process of controllers for fully actuated manipulators. To this end, we propose a methodology to design the desired damping matrix—alternatively, the derivative gain of a PD controller—of the closed-loop system such that n second-order systems can approximate its behavior with a prescribed damping coefficient, where n denotes the degrees of freedom of the system. The proposed approach is based on the linearization of the closed-loop system around the desired configuration and is suitable for different control approaches, such as PD control plus gravity compensation, impedance control, and passivity-based control. Furthermore, we extensively analyze simulations and experimental results in a cobot.Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.Learning & Autonomous Contro
Designing Robots with the Context in Mind- One Design Does Not Fit All
No full textRobots’ visual qualities (VQs) impact people’s perception of their characteristics and affect users’ behaviors and attitudes toward the robot. Recent years point toward a growing need for Socially Assistive Robots (SARs) in various contexts and functions, interacting with various users. Since SAR types have functional differences, the user experience must vary by the context of use, functionality, user characteristics, and environmental conditions. Still, SAR manufacturers often design and deploy the same robotic embodiment for diverse contexts. We argue that the visual design of SARs requires a more scientific approach considering their multiple evolving roles in future society. In this work, we define four contextual layers: the domain in which the SAR exists, the physical environment, its intended users, and the robot’s role. Via an online questionnaire, we collected potential users’ expectations regarding the desired characteristics and visual qualities of four different SARs: a service robot for an assisted living/retirement residence facility, a medical assistant robot for a hospital environment, a COVID-19 officer robot, and a personal assistant robot for domestic use. Results indicated that users’ expectations differ regarding the robot’s desired characteristics and the anticipated visual qualities for each context and use case.Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.Design Aesthetic
Estimation of Whole-Body Muscular Activation from an Optimal Set of Scarce Electromyographic Recordings
No full textMonitoring workers' status is crucial to prevent work-related musculoskeletal disorders and to enable a safe human-robot interaction. This is typically achieved relying on muscle activation recordings, commonly performed via wearable electromyographic EMG sensors. However, to properly acquire whole-body muscular status, a large number of sensors is needed. This represents a limitation for a real deployment of wearable acquisition systems, due to cost and wearability constraints. To overcome this problem, we propose a solution to provide a reliable muscles estimation from a limited number of EMG recordings. Our method exploits the covariation patterns between muscles activation to complement the recordings coming from a reduced set of optimally placed sensors, minimizing the estimation uncertainty. Using a dataset of EMG data recorded from 10 subjects, we demonstrate that it is possible to reconstruct the temporal evolution of 10 whole-body muscles with a maximum normalized estimation error of 13%, using only 7 EMG sensors
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