LP140100950 Assistive Robotic Systems for Augmenting Human Strength in Industrial Applications

Funding: 2017: $67,000
2014: $40,500
2015: $83,500
2016: $110,000

Project Member(s): Liu, D., Waldron, K., Dissanayake, G.

Funding or Partner Organisation: Australian Research Council (ARC Linkage Projects)
Burwell Technologies Pty Limited

Start year: 2014

Summary: A theoretical foundation needs to be developed in order for assistive robots to collaborate with human workers and optimise the capabilities of both the human and the robot. This project will develop methodologies that enable assistive robots to augment the strength of humans conducting physically demanding work, such as abrasive blasting, in complex industrial environments. It will address research challenges associated with perception and control of robotic systems that provide assistance-as-needed physical support to a worker intuitively and safely. The ultimate objectives are to improve productivity and reduce injuries. The outcomes will have significant and immediate impacts on assistive robotics research and industrial applications.

Publications:

Aldini, S, Akella, A, Singh, AK, Wang, Y-K, Carmichael, M, Liu, D & Lin, C-T 1970, 'Effect of Mechanical Resistance on Cognitive Conflict in Physical Human-Robot Collaboration', 2019 International Conference on Robotics and Automation (ICRA), 2019 International Conference on Robotics and Automation (ICRA), IEEE, Canada, pp. 6137-6143.
View/Download from: Publisher's site

Aldini, S, Carmichael, MG & Liu, D 1970, 'A risk reduction framework for design of physical human-robot collaboration', Australasian Conference on Robotics and Automation, ACRA, Australasian Conference on Robotics and Automation, Adelaide.

Tran, A, Liu, D, Ranasinghe, R & Carmichael, M 1970, 'A Method for Quantifying a Robot’s Confidence in its Human Co-worker in Human-Robot Cooperative Grit-Blasting', 50th International Symposium on Robotics, ISR 2018, International Symposium on Robotics, Munich, pp. 474-481.

Tran, A, Liu, D, Ranasinghe, R & Carmichael, M 1970, 'Identifying Human Hand Orientation around a Cylindrical Handlebar for physical Human-Robot Interaction', 50th International Symposium on Robotics, ISR 2018, International Symposium on Robotics, Munich, pp. 427-434.

Carmichael, MG, Liu, D & Waldron, KJ 2017, 'A framework for singularity-robust manipulator control during physical human-robot interaction', The International Journal of Robotics Research, vol. 36, no. 5-7, pp. 861-876.
View/Download from: Publisher's site

Carmichael, MG, Aldini, S & Liu, D 1970, 'Human user impressions of damping methods for singularity handling in human-robot collaboration', Australasian Conference on Robotics and Automation, ACRA, Australasian Conference on Robotics and Automation, ARAA, Sydney Australia, pp. 107-113.

Khonasty, R, Carmichael, MG, Liu, D & Aldini, S 1970, 'Effect of external force and bimanual operation on upper limb pose during human-robot collaboration', Australasian Conference on Robotics and Automation, ACRA, Australasian Conference on Robotics and Automation, ARAA, Sydney Australia, pp. 81-89.

Khonasty, R, Carmichael, MG, Liu, D & Waldron, KJ 1970, 'Upper body pose estimation utilizing kinematic constraints from physical human-robot interaction', Australasian Conference on Robotics and Automation, ACRA, Australasian Conference on Robotics and Automation, ARAA, Sydney Australia, pp. 90-99.

Reeks, C, Carmichael, MG, Dikai Liu & Waldron, KJ 1970, 'Angled sensor configuration capable of measuring tri-axial forces for pHRI', 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016 IEEE International Conference on Robotics and Automation (ICRA), IEEE, Stockholm, Sweden, pp. 3089-3094.
View/Download from: Publisher's site

Carmichael, MG & Dikai Liu 1970, 'Upper limb strength estimation of physically impaired persons using a musculoskeletal model: A sensitivity analysis', 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), IEEE, Milan, Italy, pp. 2438-2441.
View/Download from: Publisher's site

Carmichael, MG, Khonasty, R & Liu, D 1970, 'A multi-stage design framework for the development of task-specific robotic exoskeletons', 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), IEEE, Milan, Italy, pp. 1176-1180.
View/Download from: Publisher's site

Tran, A, Liu, D, Ranasinghe, R, Carmichael, M & Liu, C 1970, 'Analysis of Human Grip Strength in Physical Human Robot Interaction', Procedia Manufacturing, Conference on Applied Human Factors and Ergonomics, Elsevier BV, Las Vegas, pp. 1442-1449.
View/Download from: Publisher's site

Keywords: Manufacturing robotics, Physical human-robot interaction, Abrasive blasting

FOR Codes: Manufacturing Robotics and Mechatronics (excl. Automotive Mechatronics), Machinery and Equipment not elsewhere classified, Integrated Systems, Road Infrastructure and Networks, Manufacturing robotics, Machinery and equipment, Ground transport, Computer, electronic and communication equipment

Acknowledgement of Country

UTS acknowledges the Gadigal people of the Eora Nation, the Boorooberongal people of the Dharug Nation, the Bidiagal people and the Gamaygal people, upon whose ancestral lands our university stands. We would also like to pay respect to the Elders both past and present, acknowledging them as the traditional custodians of knowledge for these lands.