Reachy, a 3D-Printed Human-Like Robotic Arm as a Testbed for Human-Robot Control Strategies

Abstract

To this day, despite the increasing motor capability of robotic devices, elaborating efficient control strategies is still a key challenge in the field of humanoid robotic arms. In particular, providing a human “pilot” with efficient ways to drive such a robotic arm requires thorough testing prior to integration into a finished system. Additionally, when it is needed to preserve anatomical consistency between pilot and robot, such testing requires to employ devices showing human-like features. To fulfill this need for a biomimetic test platform, we present Reachy, a human-like life-scale robotic arm with seven joints from shoulder to wrist. Although Reachy does not include a poly-articulated hand and is therefore more suitable for studying reaching than manipulation, a robotic hand prototype from available third-party projects could be integrated to it. Its 3D-printed structure and off-the-shelf actuators make it inexpensive relatively to the price of an industrial-grade robot. Using an open-source architecture, its design makes it broadly connectable and customizable, so it can be integrated into many applications. To illustrate how Reachy can connect to external devices, this paper presents several proofs of concept where it is operated with various control strategies, such as tele-operation or gaze-driven control. In this way, Reachy can help researchers to explore, develop and test innovative control strategies and interfaces on a human-like robot.

Shoulder kinematics plus contextual target information enable control of multiple distal joints of a simulated prosthetic arm and hand

“…In order to facilitate development and testing of prototype prostheses that will support different control schemes, it will be useful to take advantage of multiple robotic platforms that are increasingly accessible to researchers [ 38 – 40 ]. Among these, we recently proposed one that has the potential to attack most perspectives mentioned here [ 40 ]. The 3D-printed skeleton and control interface of this platform make it easy to reconfigure both from hardware and software perspectives.…”

Viscoelastic Properties of Cell Structures Manufactured Using a Photo-Curable Additive Technology—PJM

“…The use of 3D and 4D printing technologies in robotics primarily involves applying methods that print using plastic-based materials and smart materials [21], such as composites with carbon and glass fibers, as well as rubber-based materials. Many examples of the use of 3D/4D printing technology in robotics have been discussed in numerous research work [22][23][24][25][26].…”

Research of the Influence of Production Technologies on the Positioning Accuracy of a Robotic Arm for Low Handling Weights

“…Recently, however, several scienti c papers have appeared on the additive manufacturing of robotic arm components. Mick et al [9] proposed a prototype of a robotic arm made using 3D printing, which is also economically more advantageous compared to the price of an industrial robot thanks to conventional drives. Junia Santillo Costa et al [10] implemented and validated a 3D printed Open Source robotic arm with 6 degrees of freedom made of ABS material, due to higher mechanical strength.…”