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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: Burwell Technologies Pty Limited
Australian Research Council (ARC Linkage Projects)

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, A, Wang, Y-K, Carmichael, M, Liu, D & Lin, C-T 2019, 'Effect of Mechanical Resistance on Cognitive Con´Čéict in Physical Human-Robot Collaboration', International Conference on Robotics and Automation, Canada.
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Tran, A, Liu, D, Ranasinghe, R & Carmichael, M 2018, 'Identifying Human Hand Orientation around a Cylindrical Handlebar for physical Human-Robot Interaction', International Symposium on Robotics, Munich, pp. 427-434.
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Tran, A, Liu, D, Ranasinghe, R & Carmichael, M 2018, 'Method for Quantifying a Robot's Confidence in its Human Co-worker in Human-Robot Cooperative Grit-Blasting', International Symposium on Robotics, Munich, pp. 474-481.
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Carmichael, MG, Liu, D & Waldron, KJ 2017, 'A framework for singularity-robust manipulator control during physical human-robot interaction', INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, vol. 36, no. 5-7, pp. 861-876.
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Carmichael, MG, Aldini, S & Liu, D 2017, '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, Australia, pp. 107-113.
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Khonasty, R, Carmichael, MG, Liu, D & Aldini, S 2017, 'Effect of External Force and Bimanual Operation on Upper Limb Pose during Human-Robot Collaboration', Australasian Conference on Robotics and Automation 2017, Australasian Conference on Robotics and Automation, ARAA, Sydney Australia, pp. 1-9.
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Khonasty, R, Carmichael, MG, Liu, D & Waldron, K 2017, 'Upper Body Pose Estimation Utilizing Kinematic Constraints from Physical Human-Robot Interaction', Australasian Conference on Robotics and Automation 2017, Australasian Conference on Robotics and Automation, ARAA, Sydney Australia, pp. 1-10.
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Reeks, C, Carmichael, M, Liu, D & Waldron, K 2016, 'Angled sensor configuration capable of measuring tri-axial forces for pHRI', Proceedings - IEEE International Conference on Robotics and Automation, IEEE International Conference on Robotics and Automation, IEEE, Stockholm, Sweden, pp. 3089-3094.
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Carmichael, MG & Liu, D 2015, 'Upper Limb Strength Estimation of Physically Impaired Persons using a Musculoskeletal Model: A Sensitivity Analysis', Proceedings of the 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, International Conference of the IEEE Engineering in Medicine and Biology Society, IEEE, Milan, Italy, pp. 2438-2441.
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Carmichael, MG, Khonasty, R & Liu, D 2015, 'A Multi-stage Design Framework for the Development of Task-specific Robotic Exoskeletons', Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, International Conference of the IEEE Engineering in Medicine and Biology Society, IEEE, Milan, Italy.
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Tran, A, Liu, D, Ranasinghe, R, Carmichael, M & Liu, C 2015, 'Analysis of Human grip strength in physical Human Robot Interaction', Proceedings - Analysis of Human grip strength in physical Human Robot Interaction, Conference on Applied Human Factors and Ergonomics, ELSEVIER SCIENCE BV, Las Vegas.
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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