國立虎尾科技大學 |

Control of a Human Arm Robotic Unit Using Augmented Reality and Optimized Kinematics.

Record Type:	Language materials, printed : Monograph/item
Title/Author:	Control of a Human Arm Robotic Unit Using Augmented Reality and Optimized Kinematics./
Author:	Canezo, Carlo.
Published:	Ann Arbor : ProQuest Dissertations & Theses, : 2020,
Description:	100 p.
Notes:	Source: Masters Abstracts International, Volume: 82-06.
Contained By:	Masters Abstracts International82-06.
Subject:	Robotics. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28154119
ISBN:	9798698566755

Control of a Human Arm Robotic Unit Using Augmented Reality and Optimized Kinematics.
Canezo, Carlo.

Control of a Human Arm Robotic Unit Using Augmented Reality and Optimized Kinematics. - Ann Arbor : ProQuest Dissertations & Theses, 2020 - 100 p.

Source: Masters Abstracts International, Volume: 82-06.

Thesis (M.S.M.E.)--University of South Florida, 2020.

This item must not be sold to any third party vendors.

There are more than 350000 amputees in the US who suffer loss of functionality in their daily living activities, and roughly 100000 of them are upper arm amputees. Many of these amputees use prostheses to compensate part of their lost arm function, including power prostheses. Research on 6-7 degree of freedom powered prostheses is still relatively new, and most commercially available powered prostheses are typically limited to 1 to 3 degrees of freedom. Due to the myriad of possible options for various powered protheses from different manufacturers, each configuration is governed by a distinct control scheme typically specific to the manufacturer. The user will then have to be accustomed to its custom control scheme to be able to use such protheses for ADL tasks. Control of available powered prosthesis options utilize different strategies such as individual joint control, partial endpoint control, or switching between different modes that is mentally demanding for the user leading to possible abandonment of such devices in favor of more passive systems. To overcome such issues, a novel resolved rate algorithm using Cartesian control was developed for universal use by having the user specify where the end effector must go through visual targeting. This is achieved by utilizing an augmented reality device “Magic Leap” to provide the spatial targeting information to the controller, which will then autonomously move the end effector to the targeted location. This controller system is simulated on a virtual humanoid arm model and tested on a Human Arm Robotic Unit, which is the hardware version of the arm model.

ISBN: 9798698566755Subjects--Topical Terms:

561941
Robotics.
Subjects--Index Terms:

Eye fixation

Control of a Human Arm Robotic Unit Using Augmented Reality and Optimized Kinematics.
LDR:02799nam a2200373 4500 001 1038051
005 20210910100705.5
008 211029s2020 ||||||||||||||||| ||eng d
020 $a 9798698566755
035 $a (MiAaPQ)AAI28154119
035 $a AAI28154119
040 $a MiAaPQ $c MiAaPQ
100 1 $a Canezo, Carlo. $3 1335384
245 1 0 $a Control of a Human Arm Robotic Unit Using Augmented Reality and Optimized Kinematics.
260 1 $a Ann Arbor : $b ProQuest Dissertations & Theses, $c 2020
300 $a 100 p.
500 $a Source: Masters Abstracts International, Volume: 82-06.
500 $a Advisor: Alqasemi, Redwan;Dubey, Rajiv.
502 $a Thesis (M.S.M.E.)--University of South Florida, 2020.
506 $a This item must not be sold to any third party vendors.
520 $a There are more than 350000 amputees in the US who suffer loss of functionality in their daily living activities, and roughly 100000 of them are upper arm amputees. Many of these amputees use prostheses to compensate part of their lost arm function, including power prostheses. Research on 6-7 degree of freedom powered prostheses is still relatively new, and most commercially available powered prostheses are typically limited to 1 to 3 degrees of freedom. Due to the myriad of possible options for various powered protheses from different manufacturers, each configuration is governed by a distinct control scheme typically specific to the manufacturer. The user will then have to be accustomed to its custom control scheme to be able to use such protheses for ADL tasks. Control of available powered prosthesis options utilize different strategies such as individual joint control, partial endpoint control, or switching between different modes that is mentally demanding for the user leading to possible abandonment of such devices in favor of more passive systems. To overcome such issues, a novel resolved rate algorithm using Cartesian control was developed for universal use by having the user specify where the end effector must go through visual targeting. This is achieved by utilizing an augmented reality device “Magic Leap” to provide the spatial targeting information to the controller, which will then autonomously move the end effector to the targeted location. This controller system is simulated on a virtual humanoid arm model and tested on a Human Arm Robotic Unit, which is the hardware version of the arm model.
590 $a School code: 0206.
650 4 $a Robotics. $3 561941
650 4 $a Mechanical engineering. $3 557493
650 4 $a Computer science. $3 573171
653 $a Eye fixation
653 $a Jacobian
653 $a Prosthesis
653 $a Resolved rate
653 $a Singularity robust
690 $a 0771
690 $a 0548
690 $a 0984
710 2 $a University of South Florida. $b Mechanical Engineering. $3 1180212
773 0 $t Masters Abstracts International $g 82-06.
790 $a 0206
791 $a M.S.M.E.
792 $a 2020
793 $a English
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28154119