Intelligent Telepresence and Assistive Devices (iTAD) Summary · design experiments and trials, propose experiments –Identify the main functionalities required and potential issues

Intelligent Telepresence and

Assistive Devices (iTAD) Summary

Mojtaba Ahmadi, 2016

Carleton University

Introduction

■ 1960’s to 1980’s: Challenge: flexibility, sensing, accuracy,

speed, modelling, …

Robotics

■ Robotics today

DaVinci

Medical Robotics

Rehabilitation Robotics

Assistive Robotics

iTAD Project

■ Motivation: develop a multi-faceted assistant

– Novel Design base+ arm + head + touch …

– Intelligent plus suitable autonomy

– Work with healthcare and perform site experiments

– Carry instruments or other items

Telepresence / interactive Robots

■ Basic devices: meetings

Telepresence Robot Examples

■ Telepresence in health

Telepresence Robot Examples

■ Independent living

Telepresence Robot Examples

■ Telepresence in search and rescue

Telepresence Robot Examples

■ Other potentials

– Search and rescue

– Learning

– Parenting

– Supervision

– Politics!

iTAD Project

■ Targets:

– Target 1: Hospital environment (Y1-3)

– Target 2: Healthy and independent living (Y2-4)

– Target 3: Search and rescue (Y3)

iTAD Team

■ Project team:

– Project manager

– Prof. Mojtaba Ahmadi (also lead for controls and Instrumentation)

– Lead Engineers

– Prof. Rong Liu: Dynamics and actuation

– Prof. Xin Wang: Structural design

– Prof. Chantal Trudel: Ergonomics design

– Prof. Adrian Chan: Software: Navigation and mobility

– Prof. James Green: Software: Communications and interaction

– Students: MAE 22 + 1 EE + SCE 5 + ID 15

– Teaching Assistant: Justin Kernot

– 5 Volunteers from Tetra Society and maybe other org.

iTAD Team

Team/system Mobility

Sys.

ARM Interaction

Haptics

Remote

Instruments t

Structures

Dynamics

Controls

Hum. Factors

Systems

iTAD Project: Technical

■ External organization assist:

– Medical/hospital experts, nurses, engineers:

– Help with setting requirements and technical consultations

– Instrumentation, patient population information, etc.

– Later on collaborate on research studies

– Industries/expert individuals

– Advise and provide feedback on designs

– Contribute pieces of the technology if relevant

– Take on collaborative research

– Need assessment and advice on commercialization

– Elderly homes/organizations/research centres

– Need assessment and design evaluations

iTAD Project: Technical

■ Structure

– Structural design of the main frame

– Loading considerations and FEM analysis, optimization

– Material selection meeting biomedical constraints (BME)

– Shell system, manufacturing, acoustics

– Base support for the wheel system (and advanced

concepts)

– Arm design and construction

– Neck design and construction/mounting

– Structural integration, payload estimation, electrical

considerations

iTAD Project: Technical

■ Dynamics and actuation

– Kinematics and dynamics modelling of mobility system

– System simulation, loading estimates and requirements

analysis (torque, speed, etc)

– Advanced motion concepts: Omni-directional/suspension

– Arm and neck kinematics and dynamics modelling

– Electric motor spec, selection, transmission, and drive

– Dynamic balance estimation, sensing, and other system

safety aspects

– Battery selection and power wiring and ruggedization and

safety concerns (SREE)

iTAD Project: Technical

■ Controls

– Overall control hardware and software architecture

(integ.)

– Supervisory control addressing various modules

– Real-time control of the platform

– Real-time control arm and neck

– Sensory system and safe control

– Task control: Person tracking, object tracking in camera,

hall-way wall following (potential collaboration with SCE)

– Power system management and electronics

– ROS software investigation and implementation

iTAD Project: Technical

■ Human Factors

– Investigation of various environments and target

populations and analyze the needs, propose solutions

– Research existing systems and scientific evidence,

design experiments and trials, propose experiments

– Identify the main functionalities required and potential

issues and design for the Y1 prototype

– Investigating the requirements for the multimodal

interactions (doctor-patient-staff-robot)

– Esthetics, Any other human factors, ethics, and safety

iTAD Project: Technical

■ Systems

– Software architecture and implementation

– ROS vs. others platforms (collaborations with controls

team)

– User interface design and controls actions, critical data

exchange (remote operator and robot sites)

– High-level communication tools and software (Gesture,

voice

– Wireless communication infrastructure, communications

protocols

– Biosensors to be implement