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Flexible, Semi-Autonomous Grasping for Assistive Robotics

Vogel, Jörn and Hertkorn, Katharina and Menon, Rohit Umeshchandran and Roa Garzon, Máximo Alejandro (2016) Flexible, Semi-Autonomous Grasping for Assistive Robotics. In: IEEE International Conference on Robotics and Automation ICRA, pp. 4872-4879. 2016 IEEE International Conference on Robotics and Automation (ICRA), 16.-21. Mai 2016, Stockhol, Schweden. DOI: 10.1109/ICRA.2016.7487692 ISBN 978-1-4673-8026-3

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This paper proposes a scheme to provide flexible semi-autonomous grasping capabilities to an assistive robotic manipulator. The testbed consists of a five-finger robotic hand mounted on a robotic arm. During teleoperation, the position of the hand is continuously controlled in the three translational degrees of freedom, and the user has no direct influence over the rotational behavior. The proposed semi-autonomy scheme assists the user for moving and orienting the hand towards the object, and automates the grasping process when it is triggered. The velocity commands issued by the user are enhanced using virtual fixtures, which are not preprogrammed to support one approach direction to the (known) object, but are adapted online according to the intended movement. The approach is validated with a psycho-physical user study where the participants grasp objects in a simulation environment using a SpaceMouse interface. This setting serves as a testbed for the target application in which disabled subjects will control the real robotic system with an interface based on bio-signals. The user study compares the semi-autonomous and the pure teleoperation modes in terms of objective and subjective measures, showing an increase in performance and a decrease in workload for the proposed semi-autonomous mode.

Item URL in elib:https://elib.dlr.de/105955/
Document Type:Conference or Workshop Item (Speech, Poster)
Title:Flexible, Semi-Autonomous Grasping for Assistive Robotics
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Vogel, JörnJoern.Vogel (at) dlr.deUNSPECIFIED
Hertkorn, KatharinaKatharina.Hertkorn (at) dlr.deUNSPECIFIED
Menon, Rohit UmeshchandranDFKIUNSPECIFIED
Roa Garzon, Máximo AlejandroMaximo.Roa (at) dlr.deUNSPECIFIED
Date:May 2016
Journal or Publication Title:IEEE International Conference on Robotics and Automation ICRA
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1109/ICRA.2016.7487692
Page Range:pp. 4872-4879
Keywords:Grasping Databases Rehabilitation robotics
Event Title:2016 IEEE International Conference on Robotics and Automation (ICRA)
Event Location:Stockhol, Schweden
Event Type:international Conference
Event Dates:16.-21. Mai 2016
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Vogel, Jörn
Deposited On:04 Nov 2016 13:51
Last Modified:09 Feb 2017 19:22

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