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Human Aware Robotics Modeling Human Motor Skills For The Design Planning And Control Of A New Generation Of Robotic Devices
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Book Synopsis Human-Aware Robotics: Modeling Human Motor Skills for the Design, Planning and Control of a New Generation of Robotic Devices by : Giuseppe Averta
Download or read book Human-Aware Robotics: Modeling Human Motor Skills for the Design, Planning and Control of a New Generation of Robotic Devices written by Giuseppe Averta and published by Springer Nature. This book was released on 2022-01-25 with total page 284 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book moves from a thorough investigation of human capabilities during movements and interactions with objects and environment and translates those principles into the design planning and control of innovative mechatronic systems, providing significant advancements in the fields of human–robot interaction, autonomous robots, prosthetics and assistive devices. The work presented in this monograph is characterized by a significant paradigmatic shift with respect to typical approaches, as it always place the human at the center of the technology developed, and the human represents the starting point and the actual beneficiary of the developed solutions. The content of this book is targeted to robotics and neuroscience enthusiasts, researchers and makers, students and simple lovers of the matter.
Book Synopsis Mapping Human Sensory-Motor Skills for Manipulation onto the Design and Control of Robots by : Matteo Bianchi
Download or read book Mapping Human Sensory-Motor Skills for Manipulation onto the Design and Control of Robots written by Matteo Bianchi and published by Frontiers Media SA. This book was released on 2019-03-25 with total page 134 pages. Available in PDF, EPUB and Kindle. Book excerpt: Humans are endowed with extraordinary sensory-motor capabilities that enable a successful interaction with and exploration of the environment, as is the case of human manipulation. Understanding and modeling these capabilities represents an important topic not only for neuroscience but also for robotics in a mutual inspiration, both to inform the design and control of artificial systems and, at the same time, to increase knowledge on the biological side. Within this context, synergies -- i.e., goal-directed actions that constrain multi DOFs of the human body and can be defined at the kinematic, muscular, neural level -- have gained increasing attention as a general simplified approach to shape the development of simple and effective artificial devices. The execution of such purposeful sensory-motor primitives on the biological side leverages on the interplay of the sensory-motor control at central and peripheral level, and the interaction of the human body with the external world. This interaction is particularly important considering the new concept of robotic soft manipulation, i.e. soft, adaptable yet robust robotic hands that can deform with the external environment to multiply their grasping and manipulation capabilities. Under this regard, a preeminent role is reserved to touch, being that skin isour primary organ to shape our knowledge of the external world and, hence, to modify it, in interaction with the efferent parts. This Research Topic reports results on the mutual inspiration between neuroscience and robotics, and on how it is possible to translate neuroscientific findings on human manipulation into engineering guidelines for simplified systems able to take full advantage from the interaction and hence exploitation of environmental constraints for task accomplishment and knowledge acquisition.
Book Synopsis Human Modeling for Bio-Inspired Robotics by : Jun Ueda
Download or read book Human Modeling for Bio-Inspired Robotics written by Jun Ueda and published by Academic Press. This book was released on 2016-09-02 with total page 358 pages. Available in PDF, EPUB and Kindle. Book excerpt: Human Modelling for Bio-inspired Robotics: Mechanical Engineering in Assistive Technologies presents the most cutting-edge research outcomes in the area of mechanical and control aspects of human functions for macro-scale (human size) applications. Intended to provide researchers both in academia and industry with key content on which to base their developments, this book is organized and written by senior experts in their fields. Human Modeling for Bio-Inspired Robotics: Mechanical Engineering in Assistive Technologies offers a system-level investigation into human mechanisms that inspire the development of assistive technologies and humanoid robotics, including topics in modelling of anatomical, musculoskeletal, neural and cognitive systems, as well as motor skills, adaptation and integration. Each chapter is written by a subject expert and discusses its background, research challenges, key outcomes, application, and future trends. This book will be especially useful for academic and industry researchers in this exciting field, as well as graduate-level students to bring them up to speed with the latest technology in mechanical design and control aspects of the area. Previous knowledge of the fundamentals of kinematics, dynamics, control, and signal processing is assumed. Presents the most recent research outcomes in the area of mechanical and control aspects of human functions for macro-scale (human size) applications Covers background information and fundamental concepts of human modelling Includes modelling of anatomical, musculoskeletal, neural and cognitive systems, as well as motor skills, adaptation, integration, and safety issues Assumes previous knowledge of the fundamentals of kinematics, dynamics, control, and signal processing
Book Synopsis Modelling Human Motion by : Nicoletta Noceti
Download or read book Modelling Human Motion written by Nicoletta Noceti and published by Springer Nature. This book was released on 2020-07-09 with total page 351 pages. Available in PDF, EPUB and Kindle. Book excerpt: The new frontiers of robotics research foresee future scenarios where artificial agents will leave the laboratory to progressively take part in the activities of our daily life. This will require robots to have very sophisticated perceptual and action skills in many intelligence-demanding applications, with particular reference to the ability to seamlessly interact with humans. It will be crucial for the next generation of robots to understand their human partners and at the same time to be intuitively understood by them. In this context, a deep understanding of human motion is essential for robotics applications, where the ability to detect, represent and recognize human dynamics and the capability for generating appropriate movements in response sets the scene for higher-level tasks. This book provides a comprehensive overview of this challenging research field, closing the loop between perception and action, and between human-studies and robotics. The book is organized in three main parts. The first part focuses on human motion perception, with contributions analyzing the neural substrates of human action understanding, how perception is influenced by motor control, and how it develops over time and is exploited in social contexts. The second part considers motion perception from the computational perspective, providing perspectives on cutting-edge solutions available from the Computer Vision and Machine Learning research fields, addressing higher-level perceptual tasks. Finally, the third part takes into account the implications for robotics, with chapters on how motor control is achieved in the latest generation of artificial agents and how such technologies have been exploited to favor human-robot interaction. This book considers the complete human-robot cycle, from an examination of how humans perceive motion and act in the world, to models for motion perception and control in artificial agents. In this respect, the book will provide insights into the perception and action loop in humans and machines, joining together aspects that are often addressed in independent investigations. As a consequence, this book positions itself in a field at the intersection of such different disciplines as Robotics, Neuroscience, Cognitive Science, Psychology, Computer Vision, and Machine Learning. By bridging these different research domains, the book offers a common reference point for researchers interested in human motion for different applications and from different standpoints, spanning Neuroscience, Human Motor Control, Robotics, Human-Robot Interaction, Computer Vision and Machine Learning. Chapter 'The Importance of the Affective Component of Movement in Action Understanding' of this book is available open access under a CC BY 4.0 license at link.springer.com.
Book Synopsis Robot Learning Human Skills and Intelligent Control Design by : Chenguang Yang
Download or read book Robot Learning Human Skills and Intelligent Control Design written by Chenguang Yang and published by CRC Press. This book was released on 2021-06-21 with total page 184 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the last decades robots are expected to be of increasing intelligence to deal with a large range of tasks. Especially, robots are supposed to be able to learn manipulation skills from humans. To this end, a number of learning algorithms and techniques have been developed and successfully implemented for various robotic tasks. Among these methods, learning from demonstrations (LfD) enables robots to effectively and efficiently acquire skills by learning from human demonstrators, such that a robot can be quickly programmed to perform a new task. This book introduces recent results on the development of advanced LfD-based learning and control approaches to improve the robot dexterous manipulation. First, there's an introduction to the simulation tools and robot platforms used in the authors' research. In order to enable a robot learning of human-like adaptive skills, the book explains how to transfer a human user’s arm variable stiffness to the robot, based on the online estimation from the muscle electromyography (EMG). Next, the motion and impedance profiles can be both modelled by dynamical movement primitives such that both of them can be planned and generalized for new tasks. Furthermore, the book introduces how to learn the correlation between signals collected from demonstration, i.e., motion trajectory, stiffness profile estimated from EMG and interaction force, using statistical models such as hidden semi-Markov model and Gaussian Mixture Regression. Several widely used human-robot interaction interfaces (such as motion capture-based teleoperation) are presented, which allow a human user to interact with a robot and transfer movements to it in both simulation and real-word environments. Finally, improved performance of robot manipulation resulted from neural network enhanced control strategies is presented. A large number of examples of simulation and experiments of daily life tasks are included in this book to facilitate better understanding of the readers.
Book Synopsis Conceptual Motorics - Generation and Evaluation of Communicative Robot Gesture by : Maha Salem
Download or read book Conceptual Motorics - Generation and Evaluation of Communicative Robot Gesture written by Maha Salem and published by Logos Verlag Berlin GmbH. This book was released on 2013-01-15 with total page 247 pages. Available in PDF, EPUB and Kindle. Book excerpt: How do humans perceive communicative gesture behavior in robots? Although gesture is a crucial feature of social interaction, this research question is still largely unexplored in the field of social robotics. The present work thus sets out to investigate how robot gesture can be used to design and realize more natural and human-like communication capabilities for social robots. The adopted approach is twofold. Firstly, the technical challenges encountered when implementing a speech-gesture generation model on a robotic platform are addressed. The realized framework enables a humanoid robot to produce finely synchronized speech and co-verbal hand and arm gestures. In contrast to many existing systems, these gestures are not limited to a predefined repertoire of motor actions but are flexibly generated at run-time. Secondly, the achieved expressiveness is exploited in controlled experiments to gain a deeper understanding of how robot gesture might impact human experience and evaluation of human-robot interaction. The findings reveal that participants evaluate the robot more positively when non-verbal behaviors such as hand and arm gestures are displayed along with speech. Surprisingly, this effect was particularly pronounced when the robot's gesturing behavior was partly incongruent with speech. These findings contribute new insights into human perception of communicative robot gesture and ultimately support the presented approach of endowing social robots with such non-verbal behaviors.
Download or read book Aerospace Medicine and Biology written by and published by . This book was released on 1990 with total page 248 pages. Available in PDF, EPUB and Kindle. Book excerpt: A selection of annotated references to unclassified reports and journal articles that were introduced into the NASA scientific and technical information system and announced in Scientific and technical aerospace reports (STAR) and International aerospace abstracts (IAA).
Book Synopsis A Journey from Robot to Digital Human by : Edward Y L Gu
Download or read book A Journey from Robot to Digital Human written by Edward Y L Gu and published by Springer Science & Business Media. This book was released on 2013-07-24 with total page 585 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides readers with a solid set of diversified and essential tools for the theoretical modeling and control of complex robotic systems, as well as for digital human modeling and realistic motion generation. Following a comprehensive introduction to the fundamentals of robotic kinematics, dynamics and control systems design, the author extends robotic modeling procedures and motion algorithms to a much higher-dimensional, larger scale and more sophisticated research area, namely digital human modeling. Most of the methods are illustrated by MATLABTM codes and sample graphical visualizations, offering a unique closed loop between conceptual understanding and visualization. Readers are guided through practicing and creating 3D graphics for robot arms as well as digital human models in MATLABTM, and through driving them for real-time animation. This work is intended to serve as a robotics textbook with an extension to digital human modeling for senior undergraduate and graduate engineering students. At the same time, it represents a comprehensive reference guide for all researchers, scientists and professionals eager to learn the fundamentals of robotic systems as well as the basic methods of digital human modeling and motion generation.
Book Synopsis Advanced Bimanual Manipulation by : Bruno Siciliano
Download or read book Advanced Bimanual Manipulation written by Bruno Siciliano and published by Springer. This book was released on 2012-04-10 with total page 266 pages. Available in PDF, EPUB and Kindle. Book excerpt: Dexterous and autonomous manipulation is a key technology for the personal and service robots of the future. Advances in Bimanual Manipulation edited by Bruno Siciliano provides the robotics community with the most noticeable results of the four-year European project DEXMART (DEXterous and autonomous dual-arm hand robotic manipulation with sMART sensory-motor skills: A bridge from natural to artificial cognition). The volume covers a host of highly important topics in the field, concerned with modelling and learning of human manipulation skills, algorithms for task planning, human-robot interaction, and grasping, as well as hardware design of dexterous anthropomorphic hands. The results described in this five-chapter collection are believed to pave the way towards the development of robotic systems endowed with dexterous and human-aware dual-arm/hand manipulation skills for objects, operating with a high degree of autonomy in unstructured real-world environments.
Book Synopsis Approaching Human Performance by : Markus Grebenstein
Download or read book Approaching Human Performance written by Markus Grebenstein and published by Springer. This book was released on 2014-01-24 with total page 209 pages. Available in PDF, EPUB and Kindle. Book excerpt: Humanoid robotics have made remarkable progress since the dawn of robotics. So why don't we have humanoid robot assistants in day-to-day life yet? This book analyzes the keys to building a successful humanoid robot for field robotics, where collisions become an unavoidable part of the game. The author argues that the design goal should be real anthropomorphism, as opposed to mere human-like appearance. He deduces three major characteristics to aim for when designing a humanoid robot, particularly robot hands: - Robustness against impacts - Fast dynamics - Human-like grasping and manipulation performance Instead of blindly copying human anatomy, this book opts for a holistic design methodology. It analyzes human hands and existing robot hands to elucidate the important functionalities that are the building blocks toward these necessary characteristics. They are the keys to designing an anthropomorphic robot hand, as illustrated in the high performance anthropomorphic Awiwi Hand presented in this book. This is not only a handbook for robot hand designers. It gives a comprehensive survey and analysis of the state of the art in robot hands as well as the human anatomy. It is also aimed at researchers and roboticists interested in the underlying functionalities of hands, grasping and manipulation. The methodology of functional abstraction is not limited to robot hands, it can also help realize a new generation of humanoid robots to accommodate a broader spectrum of the needs of human society.
Book Synopsis Human and Robot Hands by : Matteo Bianchi
Download or read book Human and Robot Hands written by Matteo Bianchi and published by Springer. This book was released on 2016-02-24 with total page 283 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book looks at the common problems both human and robotic hands encounter when controlling the large number of joints, actuators and sensors required to efficiently perform motor tasks such as object exploration, manipulation and grasping. The authors adopt an integrated approach to explore the control of the hand based on sensorimotor synergies that can be applied in both neuroscience and robotics. Hand synergies are based on goal-directed, combined muscle and kinematic activation leading to a reduction of the dimensionality of the motor and sensory space, presenting a highly effective solution for the fast and simplified design of artificial systems. Presented in two parts, the first part, Neuroscience, provides the theoretical and experimental foundations to describe the synergistic organization of the human hand. The second part, Robotics, Models and Sensing Tools, exploits the framework of hand synergies to better control and design robotic hands and haptic/sensing systems/tools, using a reduced number of control inputs/sensors, with the goal of pushing their effectiveness close to the natural one. Human and Robot Hands provides a valuable reference for students, researchers and designers who are interested in the study and design of the artificial hand.
Download or read book Popular Science written by and published by . This book was released on 2004-09 with total page 186 pages. Available in PDF, EPUB and Kindle. Book excerpt: Popular Science gives our readers the information and tools to improve their technology and their world. The core belief that Popular Science and our readers share: The future is going to be better, and science and technology are the driving forces that will help make it better.
Book Synopsis From Robot to Human Grasping Simulation by : Beatriz León
Download or read book From Robot to Human Grasping Simulation written by Beatriz León and published by Springer Science & Business Media. This book was released on 2013-09-29 with total page 261 pages. Available in PDF, EPUB and Kindle. Book excerpt: The human hand and its dexterity in grasping and manipulating objects are some of the hallmarks of the human species. For years, anatomic and biomechanical studies have deepened the understanding of the human hand’s functioning and, in parallel, the robotics community has been working on the design of robotic hands capable of manipulating objects with a performance similar to that of the human hand. However, although many researchers have partially studied various aspects, to date there has been no comprehensive characterization of the human hand’s function for grasping and manipulation of everyday life objects. This monograph explores the hypothesis that the confluence of both scientific fields, the biomechanical study of the human hand and the analysis of robotic manipulation of objects, would greatly benefit and advance both disciplines through simulation. Therefore, in this book, the current knowledge of robotics and biomechanics guides the design and implementation of a simulation framework focused on manipulation interactions that allows the study of the grasp through simulation. As a result, a valuable framework for the study of the grasp, with relevant applications in several fields such as robotics, biomechanics, ergonomics, rehabilitation and medicine, has been made available to these communities.
Book Synopsis Designing Robot Behavior in Human-Robot Interactions by : Changliu Liu
Download or read book Designing Robot Behavior in Human-Robot Interactions written by Changliu Liu and published by CRC Press. This book was released on 2019-09-12 with total page 236 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this book, we have set up a unified analytical framework for various human-robot systems, which involve peer-peer interactions (either space-sharing or time-sharing) or hierarchical interactions. A methodology in designing the robot behavior through control, planning, decision and learning is proposed. In particular, the following topics are discussed in-depth: safety during human-robot interactions, efficiency in real-time robot motion planning, imitation of human behaviors from demonstration, dexterity of robots to adapt to different environments and tasks, cooperation among robots and humans with conflict resolution. These methods are applied in various scenarios, such as human-robot collaborative assembly, robot skill learning from human demonstration, interaction between autonomous and human-driven vehicles, etc. Key Features: Proposes a unified framework to model and analyze human-robot interactions under different modes of interactions. Systematically discusses the control, decision and learning algorithms to enable robots to interact safely with humans in a variety of applications. Presents numerous experimental studies with both industrial collaborative robot arms and autonomous vehicles.
Book Synopsis Trends in Control and Decision-Making for Human–Robot Collaboration Systems by : Yue Wang
Download or read book Trends in Control and Decision-Making for Human–Robot Collaboration Systems written by Yue Wang and published by Springer. This book was released on 2017-01-24 with total page 418 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides an overview of recent research developments in the automation and control of robotic systems that collaborate with humans. A measure of human collaboration being necessary for the optimal operation of any robotic system, the contributors exploit a broad selection of such systems to demonstrate the importance of the subject, particularly where the environment is prone to uncertainty or complexity. They show how such human strengths as high-level decision-making, flexibility, and dexterity can be combined with robotic precision, and ability to perform task repetitively or in a dangerous environment. The book focuses on quantitative methods and control design for guaranteed robot performance and balanced human experience from both physical human-robot interaction and social human-robot interaction. Its contributions develop and expand upon material presented at various international conferences. They are organized into three parts covering: one-human–one-robot collaboration; one-human–multiple-robot collaboration; and human–swarm collaboration. Individual topic areas include resource optimization (human and robotic), safety in collaboration, human trust in robot and decision-making when collaborating with robots, abstraction of swarm systems to make them suitable for human control, modeling and control of internal force interactions for collaborative manipulation, and the sharing of control between human and automated systems, etc. Control and decision-making algorithms feature prominently in the text, importantly within the context of human factors and the constraints they impose. Applications such as assistive technology, driverless vehicles, cooperative mobile robots, manufacturing robots and swarm robots are considered. Illustrative figures and tables are provided throughout the book. Researchers and students working in controls, and the interaction of humans and robots will learn new methods for human–robot collaboration from this book and will find the cutting edge of the subject described in depth.
Book Synopsis Augmenting Human Manipulation Abilities with Supernumerary Robotic Limbs by : Irfan Hussain
Download or read book Augmenting Human Manipulation Abilities with Supernumerary Robotic Limbs written by Irfan Hussain and published by Springer Nature. This book was released on 2020-07-17 with total page 155 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book offers a timely report on an emerging topic in the field of wearable assistive technology: the design and development of robotic extra fingers. After a concise review of the state of the art and a description of earlier prototypes, it discusses the authors’ efforts to address issues such as portability and wearability of the devices, including strategies to reduce fatigue and to integrate the motion of the extra fingers with that of the human hand. The book also explores optimized control algorithms and the design of wearable sensorimotor interfaces, and presents a set of tests carried out on healthy subjects and chronic stroke patients. Merging concepts from robotics, biomechanics, human factors and control theory and offering an overview of supernumerary robotic fingers, including the challenges, this book will inspire researchers involved in the development of wearable robotic devices and interfaces based on the principles of wearability, safety, ergonomics and user comfort.
Book Synopsis Human-in-the-Loop Robot Control and Learning by : Luka Peternel
Download or read book Human-in-the-Loop Robot Control and Learning written by Luka Peternel and published by Frontiers Media SA. This book was released on 2020-01-22 with total page 229 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the past years there has been considerable effort to move robots from industrial environments to our daily lives where they can collaborate and interact with humans to improve our life quality. One of the key challenges in this direction is to make a suitable robot control system that can adapt to humans and interactively learn from humans to facilitate the efficient and safe co-existence of the two. The applications of such robotic systems include: service robotics and physical human-robot collaboration, assistive and rehabilitation robotics, semi-autonomous cars, etc. To achieve the goal of integrating robotic systems into these applications, several important research directions must be explored. One such direction is the study of skill transfer, where a human operator’s skilled executions are used to obtain an autonomous controller. Another important direction is shared control, where a robotic controller and humans control the same body, tool, mechanism, car, etc. Shared control, in turn invokes very rich research questions such as co-adaptation between the human and the robot, where the two agents can benefit from each other’s skills or must adapt to each other’s behavior to achieve effective cooperative task executions. The aim of this Research Topic is to help bridge the gap between the state-of-the-art and above-mentioned goals through novel multidisciplinary approaches in human-in-the-loop robot control and learning.
