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Schlenk, Christopher and Bahls, Thomas and Tarassenko, Sergey and Klodmann, Julian and Bihler, Markus and Wüsthoff, Tilo (2018) Robot Integrated User Interface for Physical Interaction with the DLR MIRO in Versatile Medical Procedures. Journal of Medical Robotics Research, 3 (2), pp. 1840006-1. World Scientific. doi: 10.1142/S2424905X18400068. ISSN 2424-905X.
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Official URL: https://www.worldscientific.com/doi/abs/10.1142/S2424905X18400068
Abstract
To enhance the capability of the DLR MIRO for physical human robot interaction (pHRI), six buttons were integrated as additional input interface along the robot structure. A ring of eight RGB-LEDs at the instrument interface informs the user as additional output interface about the robot's state. The mechatronic design, which is transferable to other robots, adapts to the existing communication infrastructure of the robot and therefore offers real-time capability. Besides the interaction with the robot itself, it also allows the control of third party devices connected to its communication network. Both interfaces can be flexibly programmed e.g. in C++ or Simulink.
| Item URL in elib: | https://elib.dlr.de/141615/ | ||||||||||||||||||||||||||||
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| Document Type: | Article | ||||||||||||||||||||||||||||
| Additional Information: | Electronic version of an article published as Journal of Medical Robotics Research, Vol. 03, No. 02, 1840006 (2018), DOI 10.1142/S2424905X18400068 © copyright World Scientific Publishing Company (https://www.worldscientific.com/worldscinet/jmrr) | ||||||||||||||||||||||||||||
| Title: | Robot Integrated User Interface for Physical Interaction with the DLR MIRO in Versatile Medical Procedures | ||||||||||||||||||||||||||||
| Authors: |
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| Date: | June 2018 | ||||||||||||||||||||||||||||
| Journal or Publication Title: | Journal of Medical Robotics Research | ||||||||||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||||||||||
| Open Access: | Yes | ||||||||||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||||||||||
| In SCOPUS: | No | ||||||||||||||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||||||||||||||
| Volume: | 3 | ||||||||||||||||||||||||||||
| DOI: | 10.1142/S2424905X18400068 | ||||||||||||||||||||||||||||
| Page Range: | pp. 1840006-1 | ||||||||||||||||||||||||||||
| Publisher: | World Scientific | ||||||||||||||||||||||||||||
| ISSN: | 2424-905X | ||||||||||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||||||||||
| Keywords: | Physical human robot interaction; lightweight robot; hands-on robotics; DLR MIRO; real-time capable buttons; RGB-LED | ||||||||||||||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||||||||||||||
| HGF - Program Themes: | Space System Technology | ||||||||||||||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||||||||||||||
| DLR - Program: | R SY - Space System Technology | ||||||||||||||||||||||||||||
| DLR - Research theme (Project): | R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik (old) | ||||||||||||||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) | ||||||||||||||||||||||||||||
| Deposited By: | Schlenk, Christopher | ||||||||||||||||||||||||||||
| Deposited On: | 28 Apr 2021 14:50 | ||||||||||||||||||||||||||||
| Last Modified: | 28 Mar 2023 23:59 |
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