This paper presents a mobile supernumerary robotic approach to physical assistance in human-robot conjoined actions. The study starts with a 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) an admittance-type 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 comprises a redundant torque-controlled robotic arm and an omnidirectional mobile platform. The second one is called Kairos-MAN, formed by a high-payload 6-DoF velocity-controlled robotic arm and an omnidirectional 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:本文介绍了一种超数字移动机器人方法,用于在人-机器人交织的行动中提供物质援助。本研究首先介绍了SUPER-MAN概念。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) 一种接受型界面,(二) 一种人-机器人互动控制器,和(三) 一个超数字机器人体。接着,我们从理论和硬件的角度介绍了在框架中可能执行两种方法。第一个系统称为MOCA-MAN,由多余的托克控制的机器人臂和一个全向性移动平台组成。第二个系统称为Kairos-MAN,由高额载6-DoF速度控制机械臂和一个全向性移动平台组成。这些系统共用相同的接收界面,通过这些界面将用户的扳手转换为由每个系统整体和硬件控制器生成的遥控控制器生成的遥控控制器。此外,对多个和跨性别主题的用户进行彻底的用户研究,以及一个全方位移动移动平台。第二个称为KER-MAN,用来展示其两个系统的质量分析结果。