Robotics a friend for assisting handicapped people-(s.surya,s.vidhya)
1. PRESENTED BY
D.KAVITHA
III BE ECE
JAYARAM ENGINEERING COLLEGE OF
TECHNOLOGY
2. Developed at the University Bermen’s Institute of
Automation(IAT)
Offers increased control functionality for the
disabled users
Robot arm MANUS was specially designed for
people with upper-limb impairments
3. Electric wheelchair
Robot arm MANUS
Dual Pentium PC
CAN-bus
RS-232 interface
Tray and flat LCD display
Mini camera
Speech recognition software
Arm controller
6. Programming may be done using either
Teach-in procedure
Robot Programming by Demonstration(RPD)
Control
By user
Autonomous control by the system
7. Programmer demonstrates task to be executed
with his own hand
Motions are measured, recorded and processed
Measurements are not used in simple pick and
place
Used to execute complex trajectories without
difficulty inspite of variable initial conditions
11. FRIEND uses a grasp utility- labeled objects
Visual servoing with a gripper-mounted camera is
used along with TbS
To grasp the same object the gripper is moved to
taught grasp position.
It may be manually done or automatically done.
13. Computes the change in position of the robot
In new position control algorithm is used to reach
the taught relative position
A controller must
Drive the gripper from any reasonable starting
position to the gripping position
Must ensure that the object marker remains in the
image during the motion
14. Positioning the wheelchair too Grasping without collision from a
close to the object causes surface (optimal) wheelchair
collision with the shelf. location.
15. Laborious
Time delay in speech recognition system
Improvement arises with semi-autonomous
actions
Research and development is still required
Future work will focus on
Analysis and implementation of semiautonomous
actions
Simplification of MMI
Improvement of the safety functions