Carmichael, MG, Aldini, S, Khonasty, R, Tran, A, Reeks, C, Liu, D, Waldron, KJ & Dissanayake, G 2019, 'The ANBOT: An Intelligent Robotic Co-worker for Industrial Abrasive Blasting', IEEE International Conference on Intelligent Robots and Systems, IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Macau, China, pp. 8026-8033.View/Download from: Publisher's site
© 2019 IEEE. We present the ANBOT, an intelligent robotic coworker for physical human-robot collaboration. The ANBOT system assists workers performing industrial abrasive blasting, shielding them from the large forces experienced during this physically demanding task. The co-operative robotic system combines the strength and endurance of robots with the decision making of skilled workers. The inherent challenges in human-robot collaboration, combined with the difficult blasting environment required novel design decisions to be made and new solutions to be developed. These include an approach for handling kinematic singularities in a manner suitable for human-robot co-operation, estimating worker pose under poor visibility conditions, and an intuitive control scheme that adapts the robotic assistance based on the estimated strength of the worker. In this work we summarise the ANBOT system and present findings from preliminary site trials. The trials included several real industrial blasting tasks under the control of a skilled abrasive blasting worker who had no experience working alongside a robot. Results demonstrate the suitability of the ANBOT for practical industrial applications.
Hyun, JS, Carmichael, MG, Tran, A, Zhang, S & Liu, D 2019, 'Evaluation of fast, high-detail projected light 3D sensing for robots in construction', Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019, IEEE Conference on Industrial Electronics and Applications, IEEE, Xi'an, China, pp. 1262-1267.View/Download from: Publisher's site
© 2019 IEEE. Robots used on-site in construction need to perceive the surrounding environment to operate autonomously. This is challenging as the construction environment is often less than ideal due to changing lighting conditions, turbid air, and the need to detect fine details. In this work we evaluate a custom made projected light 3D sensor system for suitability and practicality in enabling autonomous robotics for construction. A series of tests are performed to evaluate the sensor based on ability to capture environmental details, operate robustly in challenging lighting conditions, and make accurate geometric measurements. Analysis shows that high fidelity measurements with accuracy in the order of millimeters can be obtained, making the technology a promising solution for robots operating in construction environments.
Tran, A, Liu, D, Ranasinghe, R & Carmichael, M 2018, 'Identifying Human Hand Orientation around a Cylindrical Handlebar for physical Human-Robot Interaction', International Symposium on Robotics, Munich, pp. 427-434.
Tran, A, Liu, D, Ranasinghe, R & Carmichael, M 2018, 'Method for Quantifying a Robot's Confidence in its Human Co-worker in Human-Robot Cooperative Grit-Blasting', International Symposium on Robotics, Munich, pp. 474-481.
Tran, A, Liu, D, Ranasinghe, R, Carmichael, M & Liu, C 2015, 'Analysis of Human grip strength in physical Human Robot Interaction', Proceedings - Analysis of Human grip strength in physical Human Robot Interaction, Conference on Applied Human Factors and Ergonomics, ELSEVIER SCIENCE BV, Las Vegas.View/Download from: Publisher's site
The purpose of this paper is to explore how an operator's grip plays a role in physical Human Robot Interaction (pHRI). By considering how the operator reacts to or initiates changes in control, it is possible to study the operator's grip pattern. By analyzing the grip pattern, it is possible to incorporate their natural response in order to create safer and more intuitive interfaces. An experiment where an exoskeleton and human collaborate in order to complete a path following task has been chosen to observe the forces applied by the user at the handle to determine the interaction between the operator and robot. A ThruMode Matrix Array sensor has been wrapped around the robot's handle to measure the applied pressure. By introducing the sensor it not only enables the measurement of the applied forces and how they are applied but also a measure of how tight the user is gripping the handle. Previous studies show that the natural response of a human to an unexpected event is to tighten their grip, indicating that how an operator grasps the handle can be related to the operator's intention. In order to investigate how the operator's grip of the handle changes, the experiments presented in this paper examine two different scenarios which might occur during an interaction, the first where the robot attempts to deviate from the path and the second where the operator wishes to deviate to a new path. The results of the experiments show that whether the operator or the robot initiates the transition, a measurable change in how the operator grasps the handle. The information in this paper can lead to new applications in pHRI by exploring the possible uses of an operator's grasping strength.
Ranasinghe, R, Dantanarayana, L, Tran, A, Lie, S, Behrens, M & Liu, L 2014, 'Smart Hoist: An Assistive Robot to Aid Carers', Proceedings for the International Conference on Control Automation Robotics & Vision, International Conference on Control, Automation, Robotics and Vision, IEEE, Singapore, pp. 1285-1291.View/Download from: Publisher's site
Assistive Robotics(AR) is a rapidly expanding field, implementing advanced intelligent machines which are able to work collaboratively with a range of human users; as assistants, tools and as companions. These AR devices can assist stretched carers at residential aged care facilities to safely enhance their capacity and to improve the quality of care services. The research work presented in this paper describes the pre- liminary outcomes of a design, development and implementation of a patient lifting AR device (Smart Hoist) to reduce lower back injuries to carers while transferring patients in aged care facilities. The proposed solution, a modified conventional lifter device which consists of several sensors capable of interacting with the Smart Hoist operator and its environment, and a set of powered wheels. This solution helps carers to manoeuvre the Smart Hoist safely and intuitively. Preliminary results collected from an evaluation of the Smart Hoist conducted at the premises of IRT Woonona residential care facility confirm the improved safety, comfort and confidence for the carers.
Dantanarayana, L, Ranasinghe, R, Tran, A, Liu, D & Dissanayake, G 2014, 'A novel collaboratively designed robot to assist carers', Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), International Conference on Social Robotics (ICSR), SPRINGER-VERLAG BERLIN, Sydney, Australia, pp. 105-114.View/Download from: Publisher's site
© Springer International Publishing Switzerland 2014. This paper presents a co-design process and an assisted navigation strategy that enables a novel assistive robot, Smart Hoist, to aid carers transferring non-ambulatory residents. Smart Hoist was codesigned with residents and carers at IRT Woonona residential care facility to ensure that the device can coexist in the facility, while providing assistance to carers with the primary aim of reducing lower back injuries, and improving the safety of carers and patients during transfers. The Smart Hoist is equipped with simple interfaces to capture user intention in order to provide assisted manoeuvring. Using the RGB-D sensor attached to the device, we propose a method of generating a repulsive force that can be combined with the motion controller's output to allow for intuitive manoeuvring of the Smart Hoist, while negotiating with the environment. Extensive user trials were conducted on the premises of IRTWoonona residential care facility and feedback from end users confirm its intended purpose of intuitive behaviour, improved performance and ease of use.