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Development of a Multisensory Saddle as Input Device for Teleoperation

Welter, Tjark Jonas (2023) Development of a Multisensory Saddle as Input Device for Teleoperation. Bachelor's, Jade University of Applied Sciences.

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Due to demographic change and a skilled labour shortage in healthcare professions it is of high importance to explore technological assistance in healthcare. This thesis aims to develop a multisensory saddle as an additional input device to the HUG (Haptisches User Gerät) to be used for teleoperation in the SMiLE (Servicerobotik für Menschen in Lebenssituationen mit Einschränkungen) ecosystem. Since the HUG's input is limited to two robotic arms, the operator cannot control the mobile platform and the arms of a robot at the same time. Adding the saddle developed in this thesis to the HUG setup will resolve this, allowing the operator to control a robotic platform by pressing sensors with their legs. After evaluating different sensors, a sensor module is developed around a spring-loaded potentiometer, which is placed on the saddle adjustably to account for differences in the operators' height. Following the implementation of the necessary software infrastructure, the saddle will be validated in a user study comparing two different steering approaches: differential driving with and without the additional option to drive sideways. Obtaining mostly positive results about both the functionality to drive sideways and the saddle as an input device from the study thus concludes the development of a first prototype for the saddle.

Item URL in elib:https://elib.dlr.de/194092/
Document Type:Thesis (Bachelor's)
Additional Information:This work was partially funded by the German Research Foundation (Deutsche Forschungsgemeinschaft, DFG) as part of Germany’s Excellence Strategy - EXC 2050/1 - Project ID 390696704 - Cluster of Excellence “Centre for Tactile Internet with Human-in-the-Loop” (CeTI) of Technische Universität Dresden and the Bavarian Ministry of Economic Affairs, Regional Development and Energy (StMWi) by means of the project SMiLE2gether (LABAY102).
Title:Development of a Multisensory Saddle as Input Device for Teleoperation
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Date:28 February 2023
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Number of Pages:59
Keywords:teleoperation, robotics, healthcare, input device
Institution:Jade University of Applied Sciences
Department:Faculty of Civil Engineering, Geoinformation and Health Technology
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Telerobotics
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Deposited By: Hulin, Dr. Thomas
Deposited On:14 Mar 2023 16:22
Last Modified:14 Mar 2023 16:22

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