This paper presents a mobile supernumerary robotic approach to physical assistance in human-robot conjoined actions. The study starts with the description of the SUPER-MAN concept. The idea is to develop and utilize mobile collaborative systems that can follow human loco-manipulation commands to perform industrial tasks through three main components: i) a physical interface, ii) a human-robot interaction controller and iii) a supernumerary robotic body. Next, we present two possible implementations within the framework - from theoretical and hardware perspectives. The first system is called MOCA-MAN, and is composed of a redundant torque-controlled robotic arm and an omni-directional mobile platform. The second one is called Kairos-MAN, formed by a high-payload 6-DoF velocity-controlled robotic arm and an omni-directional mobile platform. The systems share the same admittance interface, through which user wrenches are translated to loco-manipulation commands, generated by whole-body controllers of each system. Besides, a thorough user-study with multiple and cross-gender subjects is presented to reveal the quantitative performance of the two systems in effort demanding and dexterous tasks. Moreover, we provide qualitative results from the NASA-TLX questionnaire to demonstrate the SUPER-MAN approach's potential and its acceptability from the users' viewpoint.
翻译:本文展示了一种移动超数字机器人方法,用于为人类机器人组合行动提供物质援助。本研究首先介绍了SUPER-MAN概念的描述。其设想是开发和利用移动协作系统,这些系统可以跟踪人类遥控操纵指令,通过三个主要组成部分执行工业任务:(一) 物理接口,(二) 人体机器人互动控制器,(三) 超数字机器人机体。接着,我们从理论和硬件角度介绍了框架中两种可能的操作方法。第一个系统称为MAOC-MAN,由多余的托盘控制的机器人臂和一个全方向移动平台组成。第二个系统称为Kairos-MAN,由高价6-DoF速度控制机械臂和一个全方向移动平台组成。这些系统共用相同的接收界面,通过该界面将用户的扳手转换为遥控操纵指令。此外,一个由多个和跨性别主题的用户进行彻底的用户研究以及一个全方向移动平台。第二个称为 Kairs-MAN 任务展示了美国航天局两个要求的量化结果。