Helping Hand – 7 DOF Haptic Robotic Arm Project Group 10 – Spring 2013 Taylor Jones, Kurt Graf, Matt Carlson, Eric Donley University of Central Florida, DEPARTMENT OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE, Orlando, Florida, P.O.Box 160000 Orlando, FL 32816, USA Abstract -- The purpose of the senior design project, from the course description of objectives is "To provide students a complete design experience, including the necessity to set design goals and objectives, integrate knowledge, exercise engineering judgment, plan to meet a budget and schedule, to work as a team member, and to communicate in writing." To accomplish these objectives our group, Helping Hand, designed a tele- operated master-slave 7 DOF robot arm which motion tracks a human operator's arm motion including open- close hand tracking by the end-effector. The project is exclusively focused on the electronics and software to control an electrically operated robotic arm. Stock mechanical robot arms were utilized as needed to accomplish the project. Index Terms — Haptic interfaces, Human robot interaction, Humanoid robots, Intelligent robots, Intelligent systems, Robotics and automation, Robotic assembly, Robot control, Robot motion, Robot programming, Robot sensing systems, Tele-operators, Tele-robotics. I. INTRODUCTION The Helping Hand haptic robotic arm is investigating robotics as smart (or skilled) as the human operator, a new phase in human-robotic interact-ability. Potential applications range from the pure athletic application of Real Steel (Hollywood robotic boxing movie) [1] or the Sci-Fi television channels’ Robot Combat League [2] to augmenting traditional robotic surgery (Da Vinci systems) [3], or a simpler programming interface for increasingly ubiquitous, light-assembly and manufacturing robotics like RethinkRobotics’ Baxter[4]. Wiki describes haptics as: “Haptic technology, or haptics, is a tactile feedback technology which takes advantage of the sense of touch by applying forces, vibrations, or motions to the user. This mechanical stimulation can be used to assist in the creation of virtual objects in a computer simulation, to control such virtual objects, and to enhance the remote control of machines and devices (tele-robotics). Haptic devices may incorporate tactile sensors that measure forces exerted by the user on the interface.” [5] “It has been described as "doing for the sense of touch what computer graphics does for vision". [6] The new cheap and readily usable MEMS gyros make motion analysis of a human operator directly programmable into an embedded robotic control system very facile and readily accomplishable. Essentially, the Helping Hand is an exteroceptive control system “activated by, relating to, or being stimuli received by an organism from outside <exteroceptive feedback>.” [7] More simply, the human operator provides spontaneous control feedback of the human-robot interactive system. The current system is direct mechanical control of the robot arm by the human operator’s arm motion. Potential future applications include a sensor glove for human hand motion duplication - for skilled work robotic duplication - or direct human - motion programming e.g. programmer’s sensor jacket, directly programming a humanoid worker robot in a one-to-one learning/programming dynamic. II. PROJECT DESCRIPTION Our project is a Haptic Robotic Arm controlled by Velcro strap mounted motion and force sensors on a human operator's arm – which controls the motion- tracking robotic arm's proportional motion. "These robots have a wide range of industrial and medical applications such as pick and place robots, surgical robots etc. They can be employed in places where precision and accuracy are required. Robots can also be employed where human hand cannot penetrate."[8] III. PROJECT CONCEPT Why study the human-operated robot arm? The future of robotics in manufacturing and assembly is increasing flexibility both in mechanical performance and ubiquitous integration with human workers. The future of robotics is greater dexterity, easier and quicker programmability, and safe operation with human co-workers. Building a tele-operated master- slave robot arm driven by sensors worn on a human arm is investigating future possibilities and general performance considerations of advanced robotics. An
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Helping Hand – 7 DOF Haptic Robotic Arm Project Group 10
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Helping Hand – 7 DOF
Haptic Robotic Arm Project
Group 10 – Spring 2013
Taylor Jones, Kurt Graf, Matt Carlson,
Eric Donley
University of Central Florida,
DEPARTMENT OF ELECTRICAL
ENGINEERING AND COMPUTER
SCIENCE, Orlando, Florida, P.O.Box
160000 Orlando, FL 32816, USA
Abstract -- The purpose of the senior design project,
from the course description of objectives is "To provide students a complete design experience, including the necessity to set design goals and objectives, integrate
knowledge, exercise engineering judgment, plan to meet a budget and schedule, to work as a team member, and to communicate in writing." To accomplish these
objectives our group, Helping Hand, designed a tele-operated master-slave 7 DOF robot arm which motion tracks a human operator's arm motion including open-
close hand tracking by the end-effector. The project is exclusively focused on the electronics and software to control an electrically operated robotic arm. Stock
mechanical robot arms were utilized as needed to accomplish the project. Index Terms — Haptic interfaces, Human robot interaction, Humanoid robots,
Taylor Jones is currently a senior at the University of Central Florida and will receive his Bachelors of Science in Computer Engineering in May of 2013. He has an interest in Artificial Intelligence, game design, and robotics.
Eric Donely is currently a senior at the University of Central Florida and will receive his Bachelors of Science in Computer Engineering in May of 2013. He has an interest in computers, electronics, and robotics.