PowerPoint Presentation

Twendy-OnePresented by: Brandon NortonRobot Designed by: WASEDA University Sugano Laboratory, 2009Assistive RoboticsHigh Potential to help elderly and people with disabilitiesFast growing fieldPrecise force/ torque control needed

Twendy-One in Action

http://www.youtube.com/watch?v=Uoq_r2dUf8g3Twendy-Ones Movement

Joint Rotation Axis

Movement contRedundant DOFs to achieve specific motionSingularities could present a problem, but are less likely to occur.Torque controlled motors to avoid harm to humans.Twendy-One Hands

Passive JointsPassive Joints allow the link to twist at a different rate than the motor outputImproved safety for robot and environment

Another Demonstration

http://www.youtube.com/watch?v=ZPxT-d_qagQ9Limitations and CostSlow movementMany motors neededSpecific tasks require advanced programming.Cost between $110k and 220k

ConclusionEffective at carrying out many assistive tasks.High DOF design is complicated but helpful for carrying out tasks.Force sensors and passive joints help to improve safety.Very expensive for the average potential customer!References[1]H. Iwata and S. Sugano, Design of human symbiotic robot TWENDY-ONE, in 2009 IEEE International Conference on Robotics and Automation, 2009, pp. 580586.[2] Sugaiwa, T., Nezumiya, M., Iwata, H., & Sugano, S. (2010). Motion-planning method with active body-environment contact for a hand-arm system including passive joints. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 6974). IEEE. doi:10.1109/IROS.2010.5652645[3] http://twendyone.com/index_e.html[4] http://www.gizmag.com/twendy-one-robot-elderly/14496/