Analysis of a User Interface Based on Multimodal Interaction to Control a Robotic Arm for EOD Applications

Goyzueta, Denilson Vilcapaza; M., Joseph Guevara; A., Andrés Montoya; Espinoza, Erasmo Sulla; Vidal, Yuri Silva; Pari, L.; C., Elvis Supo

doi:10.3390/electronics11111690

Cited by 10 publications

(5 citation statements)

References 33 publications

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“…• The mental workload and the usability of the proposed system should also be taken into consideration. Goyzueta in [2] has oriented the use of a Kalman Filter based processing to have an optimal estimation of the hand position of the operator to control the robotic arm by LM due to the characteristics of the LM sensor and the noises it has, the Kalman filter is optimal to obtain more accurate information of the hand position. However, although a correct hand estimation is obtained, physiological tremors caused by the musculoskeletal composition of the operator are still present.…”

Section: Our Approachmentioning

confidence: 99%

“…System 1 is composed of a Kalman Filter. In [2] is used this filter to control a robotic arm using leap motion oriented to EOD applications, performing an in-depth analysis of the performance of this interface compared to traditional controls such as keyboards or keypads. Korayem in [16] uses the Kalman filter to eliminate noise in the input of his system for a surgical application, and in [17] it studies in depth the physiological tremors of the operators using the LM sensor to measure them and the fast Fourier transform to determine their spectral range, concluding that physiological tremors constitute a significant contributor to end-effector vibrational motions, while Kalman filter extensions are used to minimize overall system noise.…”

Section: Our Approachmentioning

confidence: 99%

“…Several analyses have been carried out in different research centers [2], [3], [4], [5], [6], [7], [8]. At a local level, studies conducted on UDEX-AQP interventions from 2013 to 2020 show that an EOD robot would have efficiently participated in 91% of cases in explosives disposal [7], [8].…”

Section: Introductionmentioning

confidence: 99%

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Optimal Signal Processing for Steady Control of a Robotic Arm Suppressing Hand Tremors for EOD Applications

Chilo

Ccari

Supo³

et al. 2023

IEEE Access

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Teleoperated robotics in recent years has proven to be valuable support in EOD tasks; a remarkable improvement in the systems that control these robots has been the Natural User Interfaces (NUI); however, the research that implements this type of system does not focus on the stability of the robotic arm movements, necessary for this type of applications due to the danger of working with explosives. In this paper, we propose the implementation of an Optimal Signal Processing for a NUI interface based on the Leap Motion (LM) controller. The main objective of this research is to correctly identify the intentional movements of the operator, achieve high stability of the robotic gripper and suppress the physiological tremors from the hand of the operator, considering not to increase the mental workload and not decrease the usability of the system. The signal processing proposed in this paper is composed of three filtering algorithms: Kalman, FIR, and moving average with a threshold. In addition, the obtained results are compared with the most representative processing of recent research using LM for robotic arm control. To evaluate and validate the proposed signal processing, a target path tracking test, a stability analysis of the robotic gripper, and a performance analysis in the execution of Pick and Place tasks, NASA-TLX and SUS questionnaires are developed. Finally, the proposed Optimal Signal processing is implemented in the DOBOT-MAGICIAN and tested by police officers of the EOD Unit-Arequipa (UDEX-AQP); the results indicate a reduction of the average Vibration of 31.61% and the Target Path Tracking error of 67.57%.

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Section: Our Approachmentioning

confidence: 99%

Section: Our Approachmentioning

confidence: 99%

See 1 more Smart Citation

Optimal Signal Processing for Steady Control of a Robotic Arm Suppressing Hand Tremors for EOD Applications

Chilo

Ccari

Supo³

et al. 2023

IEEE Access

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“…In [16], they use a haptic interface for robotic control in which immersive interaction with the person being rescued significantly improves task performance compared to other control systems; and visual feedback further increases user performance metrics. In [17], they evaluate different multimodal interfaces to find the system with the most intuitive and least operator workload; using visual interfaces, GUI interfaces and NUI interfaces. It is shown that a multimodal interface helps considerably in an intuitive teleoperation improving robotic efficiency.…”

Section: Related Workmentioning

confidence: 99%

Analysis of the Intuitive Teleoperated System of the TxRob Multimodal Robot

A¹,

C²,

C³

et al. 2022

IJACSA

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Natural disasters such as earthquakes, avalanches, landslides, among others, leave in their path people who may be trapped in the rubble, which are hardly found by rescue agents, so a reliable system in the operation of an exploration and rescue robot is essential. This paper aims to evaluate the systems proposed for the operation of the TxRob exploration robot. The teleoperated control systems that were developed for the manipulation of the robot are: a multimodal system feedback with information through different sensors, and a GUI control system using joystick buttons. These systems were analyzed using subjective metrics such as NASA-TLX, Scale Utility System (SUS) and Microsoft Reaction Cards, which provide interesting data when evaluating the performance of an interface, as well as the workload, user satisfaction and usability; these aspects are used to conclude which system is the most intuitive when performing rescue operations in case of a disaster, among others. 15 operators were evaluated to validate this system; the age range of the operators was between 20 and 43 years old and 20% of them had previously used VR headsets. Priority is given to the most immersive, easy to use and the most efficient system to perform the task of handling the robot.

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“…An application is the tracking of objects, where it is necessary to estimate the distance of the object, thus achieving a high accuracy in real time [26]. Being complementary to other systems such as "leap motion" for interfaces "man-robot" for applications in robots EOD (bomb disposal) [27].…”

Section: Introductionmentioning

confidence: 99%

Development of a Low-Cost Teleoperated Explorer Robot (TXRob)

M¹,

S²,

H³

et al. 2022

IJACSA

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Natural disasters such as earthquakes or mudslides destroy everything in their path, causing buildings to collapse, which can cause people to lose their lives or suffer permanent injuries. Rescuers and firefighters are responsible for entering these ruined buildings, this work being very dangerous for them because they can get trapped in the rubble or suffocate due to the harmful gases found inside these buildings. Taking into consideration the risk in this type of operations, technological innovations can be used to help in the exploration of ruined buildings and the rescue of people. Therefore, this article describes the development of TXRob, a low-cost teleoperated robot used in the exploration of post-disaster scenarios. TXRob has artificial vision, environmental gas recognition sensors, a real-time data display panel, is sized to enter buildings, and is capable of moving over uneven surfaces, such as debris or cracks, thanks to its track system. A human operator can remotely monitor and control the robot. The TXRob's versatility as well as sensors performance has been tested on uneven and harsh surfaces in a simulated disaster environment. These tests suggest that the designed robot is suitable for use in rescue situations.

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Analysis of a User Interface Based on Multimodal Interaction to Control a Robotic Arm for EOD Applications

Cited by 10 publications

References 33 publications

Optimal Signal Processing for Steady Control of a Robotic Arm Suppressing Hand Tremors for EOD Applications

Optimal Signal Processing for Steady Control of a Robotic Arm Suppressing Hand Tremors for EOD Applications

Analysis of the Intuitive Teleoperated System of the TxRob Multimodal Robot

Development of a Low-Cost Teleoperated Explorer Robot (TXRob)

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