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Human-Robot Interaction

Lehrstuhl: Elastic Lightweight Robotics Group

Betreuer: Rodrigo J. Velasco-Guillen, Maximilian Krämer,

Beginn ab: 01.04.2020

Maximale Anzahl der Teilnehmer: 6

Beschreibung: Human-Robot Interaction (HRI) has gained importance over the years. This implies a paradigm change where robots are no longer exclusively separated from users by physical barriers, and instead allows for humans to take full advantage of a physical and/or cognitive interaction with machines.

This project group aims at researching methods, benefits, and challenges in HRI through three different tasks:

TASK 1 - Robot teleoperation through muscle activity: Electromyography (EMG) signals are biomedical signals that describe muscle contraction by measuring electrical currents through human skin. Superficial wireless EMG sensors will be used in upper limb muscles as the control interface for teleoperating a robotic manipulator.

What motivates this task is the implementation of a remote interaction with teleoperation as an application for a human robot interface.



TASK 2 - Control of elastic actuator: A Variable Torsional Stiffness (VTS) actuator is an elastic actuator capable of changing stiffness online. This type of actuator is often use in compliant robots, exoskeletons, and prosthesis due to its safety and energy efficiency capabilities. A control strategy for this actuator is to be developed using Beckhoff software and hardware, interlinked with Simulink for programming.

What motivates this task is that control methods applied to the VTS, a rapid prototyping experimental system for elastic actuation, can be later applied to more complex physical human-robot interaction (pHRI) system such as a powered knee orthosis.



TASK 3 - Haptic interaction with robotic gripper: Haptic feedback allows for the communication between human and robots by means of touch. A force/torque sensor and tactile sensors attached to a robotic gripper will allow to perform physical interaction and coordination experiments between users and robot.

What motivates this task is that processing haptic information can be applied to a human-robot coordination problem such as achieving a natural robot-human handover in pHRI.




Requirements for participation (but not limited to):
- Background in Robotics, ROS, Instrumentation and Control Theory
- Programming experience in C++/ Python and Matlab/Simulink


 

Die Projektgruppe findet statt!

Teilnehmer: 223145, 214534, 207053, 222628, 223321, 222647,