Documetation Humanbot

HumanSUBProduct Gestaltung 6°semesterCristoph Kirchner and Noemi HerreraProf: Annke Osthues

The tact. The human warmness.

The cuddle of a mother .The close treatment.

HumanSUBINSPIRATION

Robot Autonomic and able to move by itselfDesigned for seniors residenceswork

support while hard workdiscret appearencemaking closer contact between nurse and patientnurse dicide movementspatients see/feel just nurse bodynurse should come fast into the robot

HumanSUBINSPIRATION: HEALTH CARE SERVER

HumanSUB INSPIRATION: WHEEL CHAIR-BED

transfer bed-weelchair-bed pic up-hold while cleaning bed/patientother lift work in care centers

HumanSUBINSPIRATION:Packable structures

HumanSUBINSPIRATION:Textil malla

HumanSUBINSPIRATION:ROBOTIC SUPPORT ADAPTED TO HUMAN BODY

Honda‘s Prototype Walking Assist DevicesThe future of wearable exoskeleton devices is not limited to military (or superhero) applications as this experimental wal-king device from Honda demonstrates. The partial exoskeleton uses hip angle sensors and two flat brushless DC motors controlled by an on-board CPU to supplement natural walking movement.

Hybrid Assistive Limb(also known as HAL) is a powered exoskeleton suit currently in development by Tsukuba University in Japan. It has been designed to expand and improve physical capability of users, particularly disabled people. There are currently two proto-types: HAL 3, which has bulkier servo-motors and only has the leg function, and HAL 5, which is a full-body exoskeleton for the arms, legs, and torso. HAL 5 is currently capable of allowing the operator to lift and carry about five times as much weight as he or she could lift and carry unaided.

HumanSUBRELATION PERSON&MACHINE

ROBOT SUPPORT NURSE It support nurses in the heavy and repetitive tasks during the ma-ximun activity of the day (v3 hours per day )

Traditional transfer techniq

Hibrid Assistive Limb

HumanSUBMAIN IDEA:SKETCHES

HumanSUBMAIN IDEA:SKETCHES

HumanSUBPROPORTIONS AND ERGONOMIC:SKETCHES

HumanSUBPACKING PROCESS

STEP 0: QUIET STEP 1 STEP 2 STEP 3 STEP 4: READY

The traditionals transfer techniques of moving the patients are very complicate and fixed. The machines which support them in the tasks doesn‘t help enough and make the process longer and insi-dious.the robot improves the quality of the experience in both directions and makes closer contact between nurse and patient

-the system adapts to he nurse body perfectly and synchronize to all her movements .Consequently she is supported on a very natural and intuitive way and the robot follows her and give her strongness to support the senior bodyweight(5 times the weight the user could lift and carry). It behaves like another part of her body with the difference she can get into the machine and out fast and easily

-the patients see and feel just the nurse body and don‘t get scared with the big and aggressive actual structures machines

HumanSUBINTRODUCTION TO THE CONCEPT

HumanSUBTURN AROUND PERSPECTIVE

HumanSUBCONCEPTS

HumanSUBJOINTS AND MOTORS

Artificial joints

Flexibility is another design issue. Several human joints such as the hips and shoulders are ball and socket joints, with the center of rotation inside the body. It is difficult for an exoskeleton to exactly match the motions of this ball joint using a series of external single-axis hinge points, limiting flexibility of the wearer.

A separate exterior ball joint can be used alongside the shoulder, but this then forms a series of parallel rods in combination with the wearer‘s bones. As the external ball joint is rotated through its range of motion, the positi-onal length of the elbow joint will lengthen and shorten, causing joint misalignment with the wearer‘s body. This slip in suit alignment with the wearer can be permitted, or the suit limbs can be designed to lengthen and shor-ten under power assist as the wearer moves, to keep the elbow joints in alignment.

HumanSUBJOINTS AND MOTORS

A partial solution for more accurate free-axis movement is a hollow spherical ball joint that encloses the human joint, with the human joint as the center of rotation for the hollow sphere. Rotation around this joint may still be limited unless the spherical joint is composed of several plates that can either fan out or stack up onto themsel-ves as the human ball joint moves through its full range of motion.Power control and modulation

HumanSUBLIMITATIONS AND DESIGN ISSUES

Power supply

One of the largest problems facing designers of semi exoskeletons is the power supply. There are currently few power sources of sufficient energy density to susta-in a full-body powered exoskeleton for more than a few minutes. For this reason we tried to limitate the contact surface with human body as less as possible.

Most research designs are tethered to a much larger separate power source. For our deign it will not need to be used in completely standalone situations so this limi-tation may be acceptable because the time of use will be always 1/8 of time of charging and the energy sources will stand 50 meter aprox close to the robot activity area.

CONCEPT 1

CONCEPT 2

Strong but lightweight structure

Initial exoskeleton experiments are commonly done using inexpensive and easy to mold materials such as steel and aluminum. However steel is heavy and the powered exoskeleton must work harder to overcome its own weight in order to assist the wearer, reducing effici-ency. Aluminum is lightweight but also not very strong; it would be unacceptable for the structure to fail catastro-phically in a high-load condition by „folding up“ on itself and injuring the wearer.

As the design moves past the initial exploratory steps, the engineers move to progressively more expensive and strong but lightweight materials such as titanium, and use more complex component construction methods, such as molded carbon-fiber plates.

HumanSUB

CONCEPT 3

CONCEPT 4

Strong but lightweight actuators

The powerful but lightweight design issues are also true of the joint actuators. Standard hydraulic cylinders are powerful and capable of being precise, but they are also heavy due to the fluid-filled hoses and actuator cylin-ders, and the fluid has the potential to leak onto the user. Pneumatics are generally too unpredictable for precise movement since the compressed gas is springy, and the length of travel will vary with the gas compression and the reactive forces pushing against the actuator.

Generally electronic servomotors are more efficient and power-dense, utilizing high-gauss permanent magnets and step-down gearing to provide high torque and res-ponsive movement in a small package. Geared servomo-tors can also utilize electronic braking to hold in a steady position while consuming minimal power.

HumanSUB

CONCEPT 5

CONCEPT 6

Power control and modulation

Control and modulation of excessive and unwanted mo-vement is a third large problem. It is not enough to build a simple single-speed assist motor, with forward/hold/re-verse position controls and no on-board computer control. Such a mechanism can be too fast for the user‘s desired motion, with the assisted motion overshooting the desired position.

If the wearer‘s body is enclosed with simple contact sur-faces that trigger suit motion, the overshoot can result the wearer‘s body lagging behind the suit limb position, resulting in contact with a position sensor to move the exoskeleton in the opposite direction. This lagging of the wearer‘s body can lead to an uncontrolled high-speed oscillatory motion, and a powerful assist mechanism can batter or injure the operator unless shut down remotely.

HumanSUB

CONCEPT 7

A single-speed assist mechanism which is slowed down to prevent oscillation is then restrictive on the agility of the wearer. Sudden unexpected movements such as tripping or being pushed over requires fast precise mo-vements to recover and prevent falling over, but a slow assist mechanism may simply collapse and injure the user inside.

Fast and accurate assistive positioning is typically done using a range of speeds controlled using computer position sensing of both the exoskeleton and the wearer, so that the assistive motion only moves as fast or as far as the motion of the wearer and does not overshoot or undershoot. This may involve rapidly accelerating and decelerating the motion of the suit to match the wearer, so that their limbs slightly press against the interi-or of the suit and then it moves out of the way to match the wearer‘s motion. The computer control also needs to be able to detect unwanted oscillatory motions and shut down in a safe manner if damage to the overall system occurs.

HumanSUB

CONCEPT 8

Detection of unsafe/invalid motions

A fourth issue is detection and prevention of invalid or unsafe motions. It would be unacceptable for our arm exoskeleton to be able to move in a manner that exceeds the range of motion of the human body and tear muscle ligaments. This problem can be partially solved using designed limits on hinge motion, such as not allowing the elbow joints to flex backwards onto themselves.

However, the wearer of a powered exoskeleton can additionally damage themselves or the arm suit by moving the hinge joints through a series of combined and otherwise valid movements which together cause the suit to collide with itself or the wearer.A powered exoskeleton would need to be able to computationally track limb positions and limit movement so that the wearer does not casually injure themselves through unintended assistive motions, such as when coughing, sneezing, when startled, or if experiencing a sudden uncontrolled seizure or muscle spasm.

HumanSUB

CONCEPT 9

Pinching and joint fouling

An exoskeleton is typically constructed of very strong and hard materials, while the human body is much sof-ter than the alloys and hard plastics used in the exoskeleton. The arm exoskeleton typically cannot be worn directly in contact with bare skin due to the potential for skin pinching where the exoskeleton plates and servos slide across each other. Instead the arm holding system may be made out in a heavy fabric textile protection to protect the arm from joint pinch hazards.

The exoskeleton arm joints themselves are also prone to environmental fouling from sand and grit, and may need protection from the elements to keep operating effectively. A traditional way of handling this is with seals and gaskets around rotating parts,

HumanSUB

CONCEPT 10

HumanSUB

CONCEPT 11

HumanSUBSUBCOMPONENTS

BASEMENT

HumanSUBSUBCOMPONENTS:BASEMENTEXPLORING FORMS SKETCHES

HumanSUBSUBCOMPONENTS:BASEMENTEXPLORING CANTS

HumanSUBBASEMENTS MODELS

HumanSUBCONCEPT: ORGANIC BASEMENT

HumanSUBBASEMENTS

HumanSUBBASEMENTS-MIDDLE STICK

HumanSUBSUBCOMPONENTS

ARM HOLDING SYSTEM

Sensors mechanismWhen a person attempts to move, nerve signals are sent from the brain to the muscles via motoneuron, moving the musculo-skeletal system as a consequence. At this moment, very weak biosignals can be detected on the surface of the skin. The CPU catches these signals through a sensor attached on the skin of the nurse. Based on the signals obtained, the power unit is controlled to move the joint unitedly with the user‘s muscle mo-vement.This is what we call a ‚conscious control system‘ that provides movement interpreting the wearer‘s intention from the biosignals in advance of the actual movement. Not only a ‚conscious control system has, but also a ‚robotic autonomous control system‘ that provides human-like movement based on a robotic system which integrally work together with the autono-mous control system‘.

There are two system of sensors:

Leg sensors:It obtains information about the user‘s walking motions from hip angle sensors and two flat brushless DC motors for moving the robot wheels of the basement in synchronize with the user

HumanSUBSUBCOMPONENTS:HOLDING ARMS SYSTEMINSPIRATION

HumanSUBSUBCOMPONENTS:HOLDING ARMS SYSTEMINSPIRATION

Arm sensors:

But the most sensible sensors are situated in the shoulder. From them it gets the description of the user‘s arms movements. the sensors are controlled by an on-board CPU. Based on the informa-tion, the CPU applies cooperative control and calculates the amount and timing of the assistance to be provided on the motors.there are 4 DC motors in the shoulder and elbows.The resistance on arm muscles and joints (in the shoulder, elbows, and wrist) is reduced by supporting a portion of the patient‘s bodyweight.

HumanSUBSUBCOMPONENTS:HOLDING ARMS SYSTEMSKETCHES

Considering the mode of operation, the sen-sors can be deflection or comparison. The sen-sors operated by deflection, the magnitude of any effect as physical, it begets a similar effect, but opposite in some part of the instrument, which is related to some useful variable. A dynamometer for measuring forces is a sensor of this type, in which a spring force applied to deform until the restoring force of it, proportio-nal to its length, equals the applied force.

This sensor is designed and manufactured for applications in manpower, since the force exer-ted on an object a person is ever-changing and never the same. The applications of this sen-sor extends to robotics, can make applications using force or discretization ranges.The resistive force sensor (FSR) is a device polymer film (PTF) which has a reduced resis-tance with increasing force applied to the acti-ve surface. His sensitivity to force is optimized for use in human touch control of electronic devices

HumanSUBSUBCOMPONENTS:LEGexploring folding armsv

HumanSUBSUBCOMPONENTS:HOLDING ARMS SYSTEM

HumanSUBTURN AROUND PERSPECTIVE

HumanSUBTURN AROUND PERSPECTIVE

HumanSUBTURN AROUND PERSPECTIVE

CONCEPT 1

HumanSUBTURN AROUND PERSPECTIVE

CONCEPT 2

HumanSUBTURN AROUND PERSPECTIVE