Development of Vision-Guided Shared Control for Assistive Robotic Manipulators

辅助机器人机械手视觉引导共享控制的开发

• 批准号: 10833461
• 负责人: Dan Ding
• 金额: --
• 依托单位: VETERANS HEALTH ADMINISTRATION
• 依托单位国家: 美国
• 财政年份: 2020
• 资助国家: 美国
• 起止时间: 2020-07-01 至 2024-06-30
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/10833461
• 关键词: Activities of Daily Living; Address; Adoption; Affect; Amyotrophic Lateral Sclerosis; Behavior; Caregivers; Caring; Code; Communities; Custom; Development; Diagnosis; Eating; Effectiveness; Environment; Freedom; Frustration; Glass; Goals; Hand; Health; Hemiplegia; Home; Household; Human; Impairment; Individual; Intelligence; Intuition; Joystick; Laboratories; Measures; Mission; Modification; Multiple Sclerosis; Neuromuscular conditions; Participant; Performance; Persons; Powered wheelchair; Preparation; Prosthesis; Reporting; Robot; Robotics; Savings; Schools; Self Care; Self-Help Devices; Sensory Aids; Services; Spinal cord injury; System; Technology; Time; Toothbrushing; United States National Aeronautics and Space Administration; Upper Extremity; Veterans; Vision; Vision Tests; Water; Wheelchairs; Work; assistive robot; design; drinking; experience; falls; functional loss; human-robot interaction; improved; indexing; mobile computing; mobility aid; physically handicapped; pragmatic implementation; real world application; robot control; satisfaction; tool; usability; vision development

Veterans who use powered mobility devices including those with high-level spinal cord injury (SCI), amyotrophic lateral sclerosis (ALS), and multiple sclerosis (MS) often experience serious upper extremity impairments. In addition, many older Veterans and Veterans with hemiplegia may also suffer from functional loss in their upper extremities. Management and care of upper extremity impairments often involve a range of assistive solutions. However, product availability and technological advancement for manipulation assistance fall far behind those for mobility. Many of these individuals, despite their independent mobility, cannot reach for a glass of water, make a simple meal, and pick up a tooth brush. They still require assistance from a personal caregiver for essential activities of daily living (ADLs) involving reaching and object handling/manipulation. With the rapid advancement of robotics technology, assistive robotic manipulators (ARMs) emerge as a viable solution for assisting Veterans with upper extremity impairments to complete daily tasks involving reaching, object handling, and manipulation. ARMs are often equipped with many degrees of freedom (DOF), but users cannot control all of the DOFs at the same time with a conventional joystick, and need to switch modes quite often to complete even simple manipulation tasks, especially when an ARM gets close to the target and need to be aligned appropriately for manipulation. Thus existing ARMs suffer from the lack of efficiency and effectiveness especially in an unstructured environment. The goal of this project is to combine vision-guided shared (VGS) control with two types of environment modifications to address the effectiveness and efficiency of ARMs for real-world use. The two types of environment modifications include using commercial or custom adaptive tools (e.g., a holder that can hold a bottle or jar so an ARM can open it), and adding fiducial markers (similar to QR codes) to objects or adaptive tools to make vision-based tracking robust and reliable for real-world applications. Built upon the environment modifications, the VGS control will allow a user to initiate any task by moving an ARM close to a tagged object, and the ARM to take over fine manipulation upon detecting the target. The specific aims are to (1) to develop, implement, and bench-test the VGS control with fiducial markers and adaptive tools; (2) to evaluate the new control among powered wheelchair users who will use a wheelchair-mounted ARM to complete a set of everyday manipulation tasks; (3) to explore the potential benefits and limitations of ARMs enhanced by the VGS control with fiducial markers and adaptive tools in a one-month pilot home trial. We expect to improve manipulation functions of Veterans with upper limb impairments through a more practical and usable implementation of vision-based robotic control and human-robot interaction technologies. The mission of the VA Prosthetic & Sensory Aids Service (PSAS) is to provide comprehensive support to optimize the health and independence of the Veteran. The proposed work clearly supports this mission by maximizing the potential of ARMs in assisting Veterans with everyday manipulation tasks and supporting the adoption of this advanced assistive technology.

使用电动移动设备在内的退伍军人，包括那些具有高级脊髓损伤的人（SCI）， 肌萎缩性侧索硬化症（ALS）和多发性硬化症（MS）经常经历严重的上肢 障碍。此外，许多老年退伍军人和偏瘫的退伍军人也可能患有功能 上肢损失。上肢障碍的管理和护理通常涉及一系列 辅助解决方案。但是，产品的可用性和技术进步的操纵援助 远远落后于行动能力。尽管许多人具有独立的流动性，但许多人都无法实现 一杯水，做简单的饭菜，然后拿起牙刷。他们仍然需要个人的帮助 护理人员进行日常生活的基本活动（ADL）涉及到达和对象处理/操纵。和 机器人技术的快速发展，辅助机器人操纵器（ARM）是可行的 解决上肢障碍的退伍军人的解决方案，以完成涉及到达的日常任务 对象处理和操纵。武器通常配备了许多自由度（DOF），但用户 无法通过传统的操纵杆同时控制所有DOF，并且需要完全切换模式 通常要完成简单的操纵任务，尤其是当手臂接近目标并且需要时 适当地对齐进行操作。因此，现有的武器遭受缺乏效率和 有效性，尤其是在非结构化的环境中。 该项目的目的是将视觉指导共享（VGS）控制与两种类型的环境相结合 修改以解决现实使用的武器的有效性和效率。两种类型的 环境修改包括使用商业或自定义自适应工具（例如，可以持有的持有人 瓶子或罐子，因此手臂可以打开），并在物体或自适应中添加基准标记（类似于QR码） 使基于视觉跟踪的工具可靠，可用于现实世界应用。建立在环境上 修改，VGS控件将允许用户通过将手臂移动到标记的对象附近来启动任何任务， 并在检测目标后接管精细操纵的手臂。具体目的是（1）开发， 实施，并使用基准标记和自适应工具进行替补VGS控制； （2）评估新的 在使用轮椅的手臂完成一组轮椅的使用者中的控制权 日常操纵任务； （3）探索武器的潜在益处和局限性 VGS在一个月的试点家庭试验中使用基准标记和自适应工具进行控制。 我们希望通过更实用 以及可用的基于视力的机器人控制和人类机器人相互作用技术的实施。这 VA假肢和感觉艾滋病服务（PSA）的任务是提供全面的支持以优化 老兵的健康和独立性。提议的工作清楚地通过最大化来支持这一任务 武器在协助退伍军人日常操纵任务和支持采用的潜力 这项先进的辅助技术。