A wearable sensor vest for social humanoid robots with GPGPU, IoT, and modular software architecture

Jafarzadeh, Mohsen; Brooks, Stephen; Yu, Shimeng; Prabhakaran, Balakrishnan; Tadesse, Yonas

doi:10.1016/j.robot.2020.103536

Cited by 10 publications

(11 citation statements)

References 100 publications

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“…The upper body of the HBS-1.2 consists of Dynamixel servos, SMA actuators, and 3D-printed ABS parts, with a total materials cost of around $10,000-$15,000 [11]. Other actuators, such as 2-ply and 3-ply TCPs, have also been utilized in previous studies [33], while sensing aspects of the HBS robot was discussed in a paper by Jafarzadeh et al in 2020 [34]. The HBS robot is composed of mechatronic systems with Dynamixel and RC servo motors, and its controller consists of a desktop computer (Intel Core i7) and a microcontroller board (Nucleo STM32F767zi), which communicate through the Universal Asynchronous Receiver Transmitter (UART) [11].…”

Section: Description Of Hbs 12 Being Developed At Hbs Lab University ...mentioning

confidence: 99%

HBS-1.2: Lightweight Socially Assistive Robot with 6-Ply Twisted Coiled Polymer Muscle-Actuated Hand

et al. 2023

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In this paper, a new socially assistive robot (SARs) called HBS-1.2 is presented, which uses 6-ply twisted and coiled polymer (TCP) artificial muscles in its hand to perform physical tasks. The utilization of 6-ply TCP artificial muscles in a humanoid robot hand is a pioneering advancement, offering cost effective, lightweight, and compact solution for SARs. The robot is designed to provide safer human–robot interaction (HRI) while performing physical tasks. The paper explains the procedures for fabrication and testing of the 6-ply TCP artificial muscles, along with improving the actuation response by using a Proportional-Integral-Derivative (PID) control method. Notably, the robot successfully performed a vision-based pick and place experiment, showing its potential for use in homecare and other settings to assist patients who suffer from neurological diseases like Alzheimer’s disease. The study also found an optimal light intensity range between 34 to 108 lumens/m2, which ensures minimal variation in calculated distance with 95% confidence intervals for robust performance from the vison system. The findings of this study have important implications for the development of affordable and accessible robotic systems to support elderly patients with dementia, and future research should focus on further improving the use of TCP actuators in robotics.

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Section: Description Of Hbs 12 Being Developed At Hbs Lab University ...mentioning

confidence: 99%

HBS-1.2: Lightweight Socially Assistive Robot with 6-Ply Twisted Coiled Polymer Muscle-Actuated Hand

et al. 2023

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“…Jafarzadeh et al [25] described an inexpensive wearable sensor vest and an open-source software framework for social robotic systems that utilize the IoT. Gestures, vision, temperature, touch, distance, and a wireless communication module are all included in the vest.…”

Section: Safety Applicationsmentioning

confidence: 99%

The Internet of Things for Applications in Wearable Technology

et al. 2022

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The advent of the Internet of Things (IoT) era has propelled the development of wearable technology. Wearable devices are widely used in medical, healthcare, sports, and safety applications, bringing more convenience to the living environment. Wearable devices can be worn on the body, collect body data using sensors, and process the collected data to obtain valuable information. IoT enables devices to connect and exchange and transmit data. Wearable devices in IoT can collect data for analysis and automatically adjust wearable device functions by connecting the obtained information to other devices. In this paper, we collect and organize articles on wearable devices used in IoT from 2017 to 2022 in terms of their applications, advantages, and disadvantages. We evaluate articles to identify wearable device application areas and evaluation criteria. Finally, we discussed the open issues of wearable devices and clarified how to face the future development and efforts of wearable devices in IoT.

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“…Flexible sensors hold tremendous promise for versatile applications in a home environment, which gives the Internet of Things (IoT) a wider situational awareness leading to better ambient intelligence. [1][2][3][4] In recent years, the application of flexible sensors becomes more and more widespread, such as health monitoring devices, [5][6][7][8] energy harvesting devices, [9,10] and flexible displays. [11,12] Flexible sensors are usually made by patterning electronic materials (e.g., carbon nanotubes, [13,14] graphene nanosheets, [15] graphite particles, [16] gold nanowires, [17] metal nanoparticles [18] and silicon [19] ) on flexible supporting substrates (e.g., silicone elastomers, [20] polyimide, [21] paper, [22] hydrogels [23,24] and textiles.…”

Section: Introductionmentioning

confidence: 99%

Laser‐Patterned Graphite‐Based Strain and Temperature Sensor on Disposable Paper Cup

et al. 2023

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Flexible sensors have versatile applications in a home environment to create better ambient intelligence, which still have high fabrication costs and disposable value. As a proof‐of‐concept example to resolve these problems, the graphite‐based sensors on a disposable paper cup by laser patterning to measure the water level and temperature are proposed. The optimal process parameters of graphitic film, sensing mechanisms, and the sensor performance are investigated in the experiments. Moreover, the paper cup with graphitic sensors is simulated by the finite element method to analyze the experimental results. This fast and low‐cost manufacturing method may open up avenues for the development of disposable flexible electronics in smart home necessities.

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A wearable sensor vest for social humanoid robots with GPGPU, IoT, and modular software architecture

Cited by 10 publications

References 100 publications

HBS-1.2: Lightweight Socially Assistive Robot with 6-Ply Twisted Coiled Polymer Muscle-Actuated Hand

HBS-1.2: Lightweight Socially Assistive Robot with 6-Ply Twisted Coiled Polymer Muscle-Actuated Hand

The Internet of Things for Applications in Wearable Technology

Laser‐Patterned Graphite‐Based Strain and Temperature Sensor on Disposable Paper Cup

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