Hybrid Force Tracking Impedance Control-Based Autonomous Robotic System for Tooth Brushing Assistance of Disabled People

Ajani, Oladayo S.; Assal, Samy F. M.

doi:10.1109/tmrb.2020.3030317

Cited by 16 publications

(8 citation statements)

References 28 publications

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“…The results from the simulation demonstrate the capability of the proposed robotic system to fulfil reliable beard shaving autonomously that could be modified for performing other ADLs around the head. 42 In future, experimental implementation and user based evaluation of the proposed robotic system shall be carried out.…”

Section: Discussionmentioning

confidence: 99%

Development of an autonomous robotic system for beard shaving assistance of disabled people based on an adaptive force tracking impedance control

Ajani

Assal

2021

Proceedings of the Institution of Mechanical Engineers, Part C:

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Recently, people with upper arm disabilities due to neurological disorders, stroke or old age are receiving robotic assistance to perform several activities such as shaving, eating, brushing and drinking. Although the full potential of robotic assistance lies in the use of fully autonomous robotic systems, these systems are limited in design due to the complexities and the associated risks. Hence, rather than the shared controlled or active robotic systems used for such tasks around the head, an adaptive compliance control scheme-based autonomous robotic system for beard shaving assistance is proposed. The system includes an autonomous online face detection and tracking as well as selected geometrical features-based beard region estimation using the Kinect RGB-D camera. Online trajectory planning for achieving the shaving task is enabled; with the capability of online re-planning trajectories in case of unintended head pose movement and occlusion. Based on the dynamics of the UR-10 6-DOF manipulator using ADAMS and MATLAB, an adaptive force tracking impedance controller whose parameters are tuned using Genetic Algorithm (GA) with force/torque constraints is developed. This controller can regulate the contact force under head pose changing and varying shaving region stiffness by adjusting the target stiffness of the controller. Simulation results demonstrate the system capability to achieve beard shaving autonomously with varying environmental parameters that can be extended for achieving other tasks around the head such as feeding, drinking and brushing.

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Section: Discussionmentioning

confidence: 99%

Development of an autonomous robotic system for beard shaving assistance of disabled people based on an adaptive force tracking impedance control

Ajani

Assal

2021

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…In much of the work there was a focus on everyday tasks carried out in users' homes. The primary was to enable people, with severe and complex disabilities, to live independently (Bühler et al, 1995;Kim et al, 2012;Chen et al, 2013;Hawkins et al, 2014;Schröer et al, 2015;Chance et al, 2016;Tan et al, 2016;Candeias et al, 2018;Jevtić et al, 2018;Canal, Alenyà andTorras, 2019, Ajani andAssal, 2020). Indeed, everyday tasks were considered by a number of papers: Hawkins et al (2014) focused on shaving; Schröer et al (2015) considered drinking; Candeias et al (2018) developed robotic feeding assistants; and Ajani and Assal (2020) focused on tooth brushing.…”

Section: Disability and Autonomous Systems Researchmentioning

confidence: 99%

“…Much is made of autonomous systems to assist disabled (and in our case, young) people in their personal and public lives (e.g. Buhler 1995, Foresi 2018, Ajani 2021, Ajani 2020, Chivarov 2020. While disabled young people are categorised as key users of autonomous systems, they rarely are invited as co-designers.…”

Section: Introductionmentioning

confidence: 99%

Trustworthy Autonomous Systems and Disabled Young People: A Critical Literature Review

White¹,

Picardi²,

Paterson³

et al. 2023

Preprint

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Autonomous robotic and AI assistive systems are becoming increasingly prevalent in public and private spheres—often heralded as having the potential to revolutionise the everyday lives of disabled people. The reality could not be more different: disabled young people are routinely excluded from such spheres and, significantly, from the recent efforts to ensure that autonomous systems are trustworthy. Our critical literature review explores how trustworthy autonomous systems (TAS) can be framed within a critical disability studies perspective. We introduce the field of TAS and explore the interdisciplinary field of critical disability studies. This brings us to a key question: how is disability conceptualised, methodologically explored and represented in the TAS literature? We address this question by considering the ways in which disability and TAS have hitherto connected in the literature. We conclude with suggestions for future research and innovation that place disabled young people at the core of research and innovation in TAS.

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“…Different forms of impedance control have been proposed in the literature [30][31][32]. To implement force-based impedance control, it is crucial to have prior knowledge of the desired mechanical impedance at the end-effector.…”

Section: Force/torque-based Impedance Controlmentioning

confidence: 99%

Dynamic Modeling and Hybrid Compliant Control for a 2-DOF Compliant Robotic Leg With a New Biarticular Actuation

Kalibala

Mohamed

Umezu

et al. 2023

Preprint

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It is well recognized that biarticular muscles cross over two joints instead of just one, granting them the ability to generate substantial forces across both joints. This type of muscle plays a crucial role in human movement, since it produces large forces. In literature, there have been numerous designs of mono- and biarticular actuations applied for a two- or three-link robotic leg, aimed at studying human locomotion. A novel biarticular actuation configuration for a two-link compliant robotic leg is proposed in this research. It features mono-articular rotational actuation for the proximal link and biarticular linear actuation for the distal link. The distal link is actuated by a linear Series Elastic Actuator (SEA) that is suitable for compliant ground interaction, while the proximal link is driven by a stiff rotary actuator. This biarticular actuation is bio-inspired by the biarticular muscles in humans, especially the hamstring muscle, which span two joints instead of one to provide high torque at both joints. This new configuration for the two-link robotic leg realizes the Spring-loaded Inverted Pendulum (SLIP) dynamics, making human locomotion during the compliant ground interaction simpler. In the biarticular coordinates, complete kinematic and dynamic analyses are developed for this new configuration. The approach also involves using a rotating task space to represent the swing and stance phases of human gait. The dynamic model is transformed into this rotating task space and a hybrid impedance and position controller is developed with optimized gains to minimize the tracking errors and prevent any disturbance. A disturbance observer controller is developed and integrated with the hybrid impedance control for the proposed linear SEA in order to improve the force control precision and the resilience against external disturbances. The simulation results show the feasibility of this new approach.

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Hybrid Force Tracking Impedance Control-Based Autonomous Robotic System for Tooth Brushing Assistance of Disabled People

Cited by 16 publications

References 28 publications

Development of an autonomous robotic system for beard shaving assistance of disabled people based on an adaptive force tracking impedance control

Development of an autonomous robotic system for beard shaving assistance of disabled people based on an adaptive force tracking impedance control

Trustworthy Autonomous Systems and Disabled Young People: A Critical Literature Review

Dynamic Modeling and Hybrid Compliant Control for a 2-DOF Compliant Robotic Leg With a New Biarticular Actuation

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