developing upper limbs for social humanoid robot...
TRANSCRIPT
DEVELOPING UPPER LIMBS FOR SOCIAL
HUMANOID ROBOT NADINE
Presenter: Anoop Kumar Sinha Supervisors: Assoc. Prof. CaiYiyu (MAE)
PhD Student (BTC) Prof. Nadia Magnenat-Thalmann (Director, IMI)
(2018-2022)
OUTLINE
Introduction………………………………… 3-7
Summary of Reviewed Robotic Arms……… 8-13
Smart Materials for Soft Robotic Arms…….14-22
Design Models Underdevelopment at IMI…23-41
Conclusion…………………………………42
230/11/2018
INTRODUCTION
Human Arm Anatomy
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Degree of Freedom (DOF)
Range of Motion (ROM)
Actuators:
Antagonistic Muscles Size: Golden Ratio
Sensing Capabilities
INTRODUCTION: DEGREES OF FREEDOM
[1] MOON, HYOSANG, ET AL. "EXPERIMENTAL OBSERVATION ON HUMAN REACHING MOTION PLANNING WITH AND WITHOUT A REDUCED MOBILITY." ROBOT
KINEMATICS AND MOTION PLANNING: 1-53.
[2] HTTPS://BONEANDSPINE.COM/DEGREES-OF-FREEDOM-OF-UPPER-LIMB/
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Shoulder: 3 DOF
Elbow: 1 DOF
Wrist : 3 DOF
Fig. 1 : 7 DOF of Human Arm [1] Fig. 2 : 27 DOF of Human Hand [2]
INTRODUCTION: RANGE OF MOTION
[3] JOINT RANGE OF MOTION, HAMILTON N, WEIMAR W, LUTTGENS K. KINESIOLOGY: SCIENTIFIC BASIS OF HUMAN MOTION, 12E; 2011. AVAILABLE AT:
HTTPS://ACCESSPHYSIOTHERAPY.MHMEDICAL.COM/CONTENT.ASPX?BOOKID=965&SECTIONID=53599866 ACCESSED: NOVEMBER 11, 2018
COPYRIGHT © 2018 MCGRAW-HILL EDUCATION. ALL RIGHTS RESERVED530/11/2018
Abduction:
(-50) – (+180)
Flexion:
(-50) – (+180)
Horizontal
Abduction:
(-50) – (+130)
Flexion:
(0) – (140)
Pronation/Supination:
(0) – (80)
Flexion/Extension:
(0) – (60)
Ulnar & Radial:
(0) – (30)
& (0) – (20)
INTRODUCTION: ACTUATORS- ANTAGONISTIC MUSCLE
ACTION
[4] HTTPS://WWW.YOUTUBE.COM/WATCH?V=ZODABPGRG7Q&T=66S630/11/2018
Fig. 4 : All Muscles Work in Pair [4]
Agonist : Extensor --------opens the Joint
Generates Specific Movement
Antagonist: Flexor --------undergoes contraction
• All muscles work in pair to move bones.
• The bones are connected to muscles via tendons.
Contracting
Relaxing
INTRODUCTION: FIBONACCI SERIES (GOLDEN RATIO)
[5] GARLAND TK. CHARITY, MATH AND MUSIC—HARMONIOUS CONNECTIONS. WHITE PLAINS, NY: DALE SEYMORE PUBLICATIONS; 1995.
[6] BASHOUR M. AN OBJECTIVE SYSTEM FOR MEASURING FACIAL ATTRACTIVENESS. PLAST RECONSTR SURG. 2006;118(3):757–74. DISCUSSION 775-6.
[7] BASHOUR M. HISTORY AND CURRENT CONCEPTS IN THE ANALYSIS OF FACIAL ATTRACTIVENESS. PLAST RECONSTR SURG. 2006;118(3):741–56.
[8] RICKETTS RM. DIVINE PROPORTION IN FACIAL ESTHETICS. CLIN PLAST SURG. 1982;9(4):401–22.
[9] SEGHERS MJ, LONGACRE JJ, DESTEFANO GA. THE GOLDEN PROPORTION AND BEAUTY. PLAST RECONSTR SURG. 1964;34(4):382–6.
[10] TUCKER VA. THE DEEP FOVEA, SIDEWAYS VISION AND SPIRAL FLIGHT PATHS IN RAPTORS. J EXP BIOL. 2000;203(PT 24):3745–54.
[11] BASHOUR M. HISTORY AND CURRENT CONCEPTS IN THE ANALYSIS OF FACIAL ATTRACTIVENESS. PLAST RECONSTR SURG. 2006;118(3):741–56.
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The Fibonacci series has proven useful in the modelling of biological and
financial systems as well as in electronics and music. [5]
The ratio Φ:1 has been known since antiquity as Golden Ratio [6]
It is also evident in the shape of galaxies, the attack path of a
hawk, and in the growth pattern of the mandible [8,10]
Fig. 5 (a) Golden Ratio on human face [6,7,8,9]
(b) Functional lengths of the phalanges
as determined by Hamilton 2002 [11]
(a) (b)
SUMMARY OF REVIEWED ROBOTIC ARMS : ICUB ARM
Inventors: Alberto ParmiggianI et. al, Istituto Italiano di Tecnologia (IIT) Italy [12]
2011
Features:
Shoulder Joint: Pitch: -95 +10 deg. (ROM),
Roll: 0 +160 Yaw: -37 +80
Elbow Joint: exion/extension +5 +105
Wrist Joint: exion/extension -90 +90
abduction/adduction -90 +90
The hand of the iCub has 19 joints but is driven by only
9 motors.
30/11/2018[12] PARMIGGIANI, ALBERTO, ET AL. "THE DESIGN OF THE ICUB HUMANOID ROBOT." INTERNATIONAL JOURNAL OF HUMANOID
ROBOTICS 9.04 (2012): 1250027. 8
SUMMARY OF REVIEWED ROBOTIC ARMS : MEKA ROBOTICS H2
COMPLIANT HAND AND A2 COMPLIANT MANIPULATOR
Features of Meka H2 Hand
1. Under-actuated design: total of 12 DOF controlled by 5
actuators.
2. Series Elastic Actuator (SEA): By placing a spring
between the motor and the finger drive tendon.
Features of Meka A2 Manipulator
1. Lightweight 7 DOF force-controlled arm and uses
SEA.
2. For human-robot interaction.
30/11/2018[13] HTTP://WWW.HIZOOK.COM/BLOG/2009/10/18/MEKA-ROBOTICS-HUMANOID-TORSO-AND-ANTHROPOMORPHIC-HANDS 9
Inventors: Meka Robotics & San Francisco robotics; Start-up founded by MIT [13]
SUMMARY OF REVIEWED ROBOTIC ARMS : MECHATE
ANIMATRONIC HAND
Features of MechaTE Animatronic Hand
1. Futaba S3114 Micro Servos.
2. Only 5 servos to manage 14 joints.
3. Compliant Adjustment: Each finger (but not
thumb) is equipped with a servo saver system. The
two shaft collars on either side of the servo horn
brass connector (at the ends of the springs) and be
moved to compress or de-compress the
springs to your liking.
30/11/2018[14] HTTPS://SPECTRUM.IEEE.ORG/AUTOMATON/ROBOTICS/HUMANOIDS/DLR-SUPER-ROBUST-ROBOT-HAND
[15] HTTP://MINDTRANS.NAROD.RU/PDFS/MECHATE-LE-INSTRUCTIONS-CESHND01-LE.PDF10
Inventors: Institute of Robotics and Mechatronics; German Aerospace Center (DLR) [14,15]
SUMMARY OF REVIEWED ROBOTIC ARMS : A SOFT
ROBOTIC ARM AND HAND SYSTEM
Features of Disney Soft Robotic Arm and
Hand:
1. The 6 DOF arm has two air-filled force sensing
modules
2. The arm has an inflated outer cover which encloses
the arm’s underlying mechanisms and force sensing
modules.
3. On the end of the arm is a 3D printed hand with
air-filled, force sensing fingertips.
30/11/2018[16] ALSPACH, ALEXANDER, JOOHYUNG KIM, AND KATSU YAMANE. "DESIGN AND FABRICATION OF A SOFT ROBOTIC HAND
AND ARM SYSTEM."11
Inventors: By Disney Research; Published in: IEEE-RAS International Conference on Soft Robotics
2018; Published on : April 25, 2018 [16]
SUMMARY OF REVIEWED ROBOTIC ARMS:
DIFFERENT ARMS
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[17] HTTP://WWW.ANDROIDWORLD.COM/PROD61.HTM
[18] HTTPS://WWW.SHADOWROBOT.COM/PRODUCTS/DEXTEROUS-HAND/
[19] YOKOI, HIROSHI, ET AL. "MUTUAL ADAPTATION IN A PROSTHETICS APPLICATION." EMBODIED ARTIFICIAL INTELLIGENCE.
SPRINGER, BERLIN, HEIDELBERG, 2004. 146-159.
[20] HTTPS://WWW.EUCOGNITION.ORG/INDEX.PHP?PAGE=CHEAP-GRASPING-WITH-A-ROBOTIC-HAND
12
David Ng - Robot Hand/Arm [17] By Shadow Robot Company [18] Yokoi Hand [19,20]
Artificial Intelligence Laboratory
University of Zurich
SUMMARY OF REVIEWED ROBOTIC ARMS:
LIMITATIONS
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BULKY ARMS: Weight & Size ( average human arm weight : 3.63 Kg ).
TRADITIONAL ROTARY ACTUATORS ( can’t mimic the antagonistic feature of human muscles).
APPEARANCE : look more like assembly of mechanical components and electronics.
SMART ACTUATORS FOR ARTIFICIAL MUSCLE
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McKibben artificial muscle
Shape Memory Alloys ( SMAs)
MCKIBBEN ARTIFICIAL MUSCLES
[21] DAERDEN, FRANK, AND DIRK LEFEBER. "PNEUMATIC ARTIFICIAL MUSCLES: ACTUATORS FOR ROBOTICS AND AUTOMATION." EUROPEAN JOURNAL OF
MECHANICAL AND ENVIRONMENTAL ENGINEERING 47.1 (2002): 11-21.
[22] HTTPS://EN.WIKIPEDIA.ORG/WIKI/FILE:SAM_ANIMATION-REAL-MUSCLE.GIF#FILELINKS
[23] VIDEO LINK: HTTPS://WWW.YOUTUBE.COM/WATCH?V=0ZBD2TCKOU4&LIST=PLG22NKIYTG3DZKBNEUCE_X0FINWHYC_NK
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McKibben artificial muscles are contractile or
extensional devices operated by pressurized air.
Fig. Air muscle contracting and extending [21,22]
MCKIBBEN ARTIFICIAL MUSCLES
[21] DAERDEN, FRANK, AND DIRK LEFEBER. "PNEUMATIC ARTIFICIAL MUSCLES: ACTUATORS FOR ROBOTICS AND AUTOMATION." EUROPEAN JOURNAL OF
MECHANICAL AND ENVIRONMENTAL ENGINEERING 47.1 (2002): 11-21.1630/11/2018
Fig. Air muscle under constant load[21] Fig. Isobaric force-contraction diagrams
MCKIBBEN ARTIFICIAL MUSCLES
[21] DAERDEN, FRANK, AND DIRK LEFEBER. "PNEUMATIC ARTIFICIAL MUSCLES: ACTUATORS FOR ROBOTICS AND AUTOMATION." EUROPEAN JOURNAL OF
MECHANICAL AND ENVIRONMENTAL ENGINEERING 47.1 (2002): 11-21.1730/11/2018
1. At minimum contraction, as the pressure increases, the force
also increases.
2. As the percent contraction increases, the force decreases at
each pressure.
This is similar to the human muscle. The force drops from its highest
value at full muscle length to zero at full muscle contraction.
Fig. Isobaric force-contraction diagrams
30/11/2018[21] DAERDEN, FRANK, AND DIRK LEFEBER. "PNEUMATIC ARTIFICIAL MUSCLES: ACTUATORS FOR ROBOTICS AND
AUTOMATION." EUROPEAN JOURNAL OF MECHANICAL AND ENVIRONMENTAL ENGINEERING 47.1 (2002): 11-21.18
MCKIBBEN ARTIFICIAL MUSCLES
Differences Similarities
Skeletal muscles:
• Do not change volume during contraction
• Have a modular structure (they are made up of
parallel and series connected microscopic contractile
systems)
• Have integrated multiple force and strain sensors
• Have energy stored in them and running through
them
• Can serve as energy source or even building material
for muscles of other biological systems
• Monotonically decreasing load-contraction relation
• Both need to be setup antagonistically in order to
allow bidirectional motion
SHAPE MEMORY ALLOYS
[24] HTTP://WWW.ISSP.AC.RU/EBOOKS/BOOKS/OPEN/SHAPE_MEMORY_ALLOYS.PDF
[25] HTTPS://WWW.YOUTUBE.COM/PLAYLIST?LIST=PLG22NKIYTG3CBOFJ9LQBXWX3JJGZT7DJW1930/11/2018
• Commercially available as NiTi or Nitinol wires or
springs.
• Shape Memory Effect (SME) :
At low temperature SMA can be deform plastically
but this plastic strain can be recover by increasing
temperature this is called Shape Memory Effect
(SME). [24]
SHAPE MEMORY ALLOYS
[26] HTTPS://WWW.YOUTUBE.COM/WATCH?V=-K57CBOHA5G&START_RADIO=1&LIST=RDQMHW63QSIR_9G 2030/11/2018
• How to make a NiTiol wire memorize a Shape?
Answer: Shape setting operation: Heat treatment/
Annealing above phase transformation temperature.
Deformed to Any Shape
Apply Heat
(~ 80°C)
Restores to its Pre- Deformed
Shape
Bake SMA (~410°C)
SHAPE MEMORY ALLOYS
[24] HTTP://WWW.ISSP.AC.RU/EBOOKS/BOOKS/OPEN/SHAPE_MEMORY_ALLOYS.PDF2130/11/2018
Fig. Actuation force at different annealing temperature[24] Fig. Analysis of Force at Different Voltage and Pulse Time[24]
SHAPE MEMORY ALLOYS: A SIMPLE ACTUATOR
CONFIGURATION
[25] YANG, K., AND C. L. GU. "A COMPACT AND FLEXIBLE ACTUATOR BASED ON SHAPE MEMORY ALLOY SPRINGS." PROCEEDINGS OF THE INSTITUTION OF MECHANICAL
ENGINEERS, PART C: JOURNAL OF MECHANICAL ENGINEERING SCIENCE 222.7 (2008): 1329-1337.
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Fig. Sketch map of a compact flexible actuator [25]
3 DOF SHOULDER JOINT
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Z
X
Y
Sun Gear
Planet Gear
Motor 1
Motor 3
Motor 2
Simple Gear Train
3DOF
SHOULDER
JOINT
24
3DOF
SHOULDER
JOINT
25
3DOF SHOULDERJOINT
26
3DOF SHOULDER JOINT
27
3DOF SHOULDERJOINT
28
2 DOF
ELBOW JOINT
29
2 DOF
ELBOW JOINT
30
2 DOF WRISTJOINT
31
2DOF WRISTJOINT
32
HAND DESIGN – BASED ON FIBONACCI SERIES (GOLDEN RATIO)
Their average data from 197 subjects shows that the ratio of the distance from
the metacarpophalangeal joint to the proximal interphalangeal joint (MCP-PIP)
and the distance from PIP to phalangeal tip is 1:1 in all the fingers. The ratio of
the distance from the PIP to the distal interphalangeal joint (PIP-DIP) and the
distance from the DIP to the phalangeal tip (DIP-tip) is 1.3:1 for the index,
middle, and ring fingers and 1:1 for the little finger. In other words, the ratios of
the DIP-tip/PIP-DIP/MCP-PIP distances were 1:1:2 for the little finger and
1:1.3:2.3 for the other fingers. [26]
Fig. Functional lengths of the phalanges as determined by
Hamilton (Journal of Hand Surgery (Edinburgh, Scotland) 27:546,
2002 [26]3330/11/2018[26] BASHOUR M. HISTORY AND CURRENT CONCEPTS IN THE ANALYSIS OF FACIAL ATTRACTIVENESS. PLAST RECONSTR SURG. 2006;118(3):741–56.
HAND DESIGN – BASED ON FIBONACCI SERIES (GOLDEN RATIO)
I
T
M
R
L
Finger Name Tip-DIP (cm) DIP-PIP (cm) PIP-MCP
(cm)
Index Finger (I) 2.23 1.3 x I =2.89 2.3 x I = 5.13
Mid Finger (M) 2.44 1.3 x M =3.1 2.3 x M =5.61
Ring Finger (R) 2.12 1.3 x R =
2.75
2.3 x R =
4.87
Little Finger (L) 1.79 1 x L = 1.79 2 x L = 3.58
Table 1 Based on the data provided by Habib et. al. in [9]
HAND DESIGN – BASED ON FIBONACCI SERIES (GOLDEN RATIO)
Phalanges lengths of left hand of an
Egyptian female[27]
[27] HABIB, SAHAR REFAAT, AND NASHWA NABIL KAMAL. "STATURE ESTIMATION FROM HAND AND PHALANGES LENGTHS OF EGYPTIANS." JOURNAL OF FORENSIC AND LEGAL
MEDICINE 17.3 (2010): 156-160.
35
Slot for Thermocouple and FRS (Dimensions of the sensors have been Considered during designing)
Slot for Connecting Wires
A Slot on the Back Side for Accelerometer ( IMU )
Slot Bowden Cables
HAND DESIGN – EXPLAINED
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HAND DESIGN – DIMENSIONS
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HAND DESIGN – DIMENSIONS
Hand dimension measuring on a 2D image by using CorelDRAW X5[27].
Design
Tip to Wrist 166.42 mm
Width of Palm 72.46 mm
Thickness of
Palm
10. 00 mm
[27] HABIB, SAHAR REFAAT, AND NASHWA NABIL KAMAL. "STATURE ESTIMATION FROM HAND AND
PHALANGES LENGTHS OF EGYPTIANS." JOURNAL OF FORENSIC AND LEGAL MEDICINE 17.3 (2010): 156-160.
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HAND DESIGN – SIMULATIONS 1
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HAND DESIGN – SIMULATIONS 2
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HAND DESIGN – SIMULATIONS 3
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CONCLUSION AND FUTURE SCOPE
• Muscles in human arm work in pairs. A robotic arm with such antagonistic
muscle pairs has to be developed with sensing capabilities.
• Existing robotic arms use traditional actuators, are bulky and don’t have
appearance like a human arm.
• A design based on Fibonacci series ( Golden Ratio) is proposed.
• The current idea is to use either Bowden cables or SMA in the robotic
arm and hand, so the design has been prepared accordingly.
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Thank You!