DEVELOPING UPPER LIMBS FOR SOCIAL HUMANOID ROBOT NADINE Presenter: Anoop Kumar Sinha PhD Student (BTC) (2018-2022) Supervisors: Assoc. Prof. Cai Yiyu (MAE) Prof. Nadia Magnenat-Thalmann (Director, IMI)
OUTLINE Introduction 3-7 Summary of Reviewed Robotic Arms 8-13 Smart Materials for Soft Robotic Arms.14-22 Design Models Underdevelopment at IMI 23-41 Conclusion 42 30/11/2018 2
INTRODUCTION Degree of Freedom (DOF) Range of Motion (ROM) Human Arm Anatomy Actuators: Antagonistic Muscles Size: Golden Ratio Sensing Capabilities 30/11/2018 3
INTRODUCTION: DEGREES OF FREEDOM Shoulder: 3 DOF Elbow: 1 DOF Wrist : 3 DOF Fig. 1 : 7 DOF of Human Arm [1] Fig. 2 : 27 DOF of Human Hand [2] [1] MOON, HYOSANG, ET AL. "EXPERIMENTAL OBSERVATION ON HUMAN REACHING MOTION PLANNING WITH AND WITHOUT A REDUCED MOBILITY." ROBOT KINEMATICS AND MOTION PLANNING: 1-53. [2] HTTPS://BONEANDSPINE.COM/DEGREES-OF-FREEDOM-OF-UPPER-LIMB/ 30/11/2018 4
INTRODUCTION: RANGE OF MOTION Abduction: (-50) (+180) Flexion: (0) (140) Flexion: (-50) (+180) Flexion/Extension: (0) (60) Horizontal Abduction: (-50) (+130) Pronation/Supination: (0) (80) Ulnar & Radial: (0) (30) & (0) (20) [3] JOINT RANGE OF MOTION, HAMILTON N, WEIMAR W, LUTTGENS K. KINESIOLOGY: SCIENTIFIC BASIS OF HUMAN MOTION, 12E; 2011. AVAILABLE AT: HTTPS://ACCESSPHYSIOTHERAPY.MHMEDICAL.COM/CONTENT.ASPX?BOOKID=965&SECTIONID=53599866 ACCESSED: NOVEMBER 11, 2018 COPYRIGHT 2018 MCGRAW-HILL EDUCATION. ALL RIGHTS RESERVED 30/11/2018 5
INTRODUCTION: ACTUATORS- ANTAGONISTIC MUSCLE ACTION All muscles work in pair to move bones. The bones are connected to muscles via tendons. Agonist : Extensor --------opens the Joint Generates Specific Movement Antagonist: Flexor --------undergoes contraction Contracting Relaxing Fig. 4 : All Muscles Work in Pair [4] [4] HTTPS://WWW.YOUTUBE.COM/WATCH?V=ZODABPGRG7Q&T=66S 30/11/2018 6
INTRODUCTION: FIBONACCI SERIES (GOLDEN RATIO) The Fibonacci series has proven useful in the modelling of biological and financial systems as well as in electronics and music. [5] The ratio Φ:1 has been known since antiquity as Golden Ratio [6] (a) (b) Fig. 5 (a) Golden Ratio on human face [6,7,8,9] (b) Functional lengths of the phalanges as determined by Hamilton 2002 [11] It is also evident in the shape of galaxies, the attack path of a hawk, and in the growth pattern of the mandible [8,10] [5] GARLAND TK. CHARITY, MATH AND MUSIC HARMONIOUS CONNECTIONS. WHITE PLAINS, NY: DALE SEYMORE PUBLICATIONS; 1995. [6] BASHOUR M. AN OBJECTIVE SYSTEM FOR MEASURING FACIAL ATTRACTIVENESS. PLAST RECONSTR SURG. 2006;118(3):757 74. DISCUSSION 775-6. [7] BASHOUR M. HISTORY AND CURRENT CONCEPTS IN THE ANALYSIS OF FACIAL ATTRACTIVENESS. PLAST RECONSTR SURG. 2006;118(3):741 56. [8] RICKETTS RM. DIVINE PROPORTION IN FACIAL ESTHETICS. CLIN PLAST SURG. 1982;9(4):401 22. [9] SEGHERS MJ, LONGACRE JJ, DESTEFANO GA. THE GOLDEN PROPORTION AND BEAUTY. PLAST RECONSTR SURG. 1964;34(4):382 6. [10] TUCKER VA. THE DEEP FOVEA, SIDEWAYS VISION AND SPIRAL FLIGHT PATHS IN RAPTORS. J EXP BIOL. 2000;203(PT 24):3745 54. [11] BASHOUR M. HISTORY AND CURRENT CONCEPTS IN THE ANALYSIS OF FACIAL ATTRACTIVENESS. PLAST RECONSTR SURG. 2006;118(3):741 56. 30/11/2018 7
SUMMARY OF REVIEWED ROBOTIC ARMS : ICUB ARM Inventors: Alberto ParmiggianI et. al, Istituto Italiano di Tecnologia (IIT) Italy [12] 2011 Features: Shoulder Joint: Pitch: -95 +10 deg. (ROM), Roll: 0 +160 Yaw: -37 +80 Elbow Joint: exion/extension +5 +105 Wrist Joint: exion/extension -90 +90 abduction/adduction -90 +90 The hand of the icub has 19 joints but is driven by only 9 motors. [12] PARMIGGIANI, ALBERTO, ET AL. "THE DESIGN OF THE ICUB HUMANOID ROBOT." INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS 9.04 (2012): 1250027. 30/11/2018 8
SUMMARY OF REVIEWED ROBOTIC ARMS : MEKA ROBOTICS H2 COMPLIANT HAND AND A2 COMPLIANT MANIPULATOR Inventors: Meka Robotics & San Francisco robotics; Start-up founded by MIT [13] Features of Meka H2 Hand 1. Under-actuated design: total of 12 DOF controlled by 5 actuators. 2. Series Elastic Actuator (SEA): By placing a spring between the motor and the finger drive tendon. Features of Meka A2 Manipulator 1. Lightweight 7 DOF force-controlled arm and uses SEA. 2. For human-robot interaction. [13] HTTP://WWW.HIZOOK.COM/BLOG/2009/10/18/MEKA-ROBOTICS-HUMANOID-TORSO-AND-ANTHROPOMORPHIC-HANDS 30/11/2018 9
SUMMARY OF REVIEWED ROBOTIC ARMS : MECHA TE ANIMATRONIC HAND Inventors: Institute of Robotics and Mechatronics; German Aerospace Center (DLR) [14,15] Features of Mecha TE Animatronic Hand 1. Futaba S3114 Micro Servos. 2. Only 5 servos to manage 14 joints. 3. Compliant Adjustment: Each finger (but not thumb) is equipped with a servo saver system. The two shaft collars on either side of the servo horn brass connector (at the ends of the springs) and be moved to compress or de-compress the springs to your liking. [14] HTTPS://SPECTRUM.IEEE.ORG/AUTOMATON/ROBOTICS/HUMANOIDS/DLR-SUPER-ROBUST-ROBOT-HAND [15] HTTP://MINDTRANS.NAROD.RU/PDFS/MECHATE-LE-INSTRUCTIONS-CESHND01-LE.PDF 30/11/2018 10
SUMMARY OF REVIEWED ROBOTIC ARMS : A SOFT ROBOTIC ARM AND HAND SYSTEM Inventors: By Disney Research; Published in: IEEE-RAS International Conference on Soft Robotics 2018; Published on : April 25, 2018 [16] Features of Disney Soft Robotic Arm and Hand: 1. The 6 DOF arm has two air-filled force sensing modules 2. The arm has an inflated outer cover which encloses the arm s underlying mechanisms and force sensing modules. 3. On the end of the arm is a 3D printed hand with air-filled, force sensing fingertips. [16] ALSPACH, ALEXANDER, JOOHYUNG KIM, AND KATSU YAMANE. "DESIGN AND FABRICATION OF A SOFT ROBOTIC HAND AND ARM SYSTEM." 30/11/2018 11
SUMMARY OF REVIEWED ROBOTIC ARMS: DIFFERENT ARMS David Ng - Robot Hand/Arm [17] By Shadow Robot Company [18] Yokoi Hand [19,20] Artificial Intelligence Laboratory University of Zurich [17] HTTP://WWW.ANDROIDWORLD.COM/PROD61.HTM [18] HTTPS://WWW.SHADOWROBOT.COM/PRODUCTS/DEXTEROUS-HAND/ [19] YOKOI, HIROSHI, ET AL. "MUTUAL ADAPTATION IN A PROSTHETICS APPLICATION." EMBODIED ARTIFICIAL INTELLIGENCE. SPRINGER, BERLIN, HEIDELBERG, 2004. 146-159. [20] HTTPS://WWW.EUCOGNITION.ORG/INDEX.PHP?PAGE=CHEAP-GRASPING-WITH-A-ROBOTIC-HAND 30/11/2018 12
SUMMARY OF REVIEWED ROBOTIC ARMS: LIMITATIONS BULKY ARMS: Weight & Size ( average human arm weight : 3.63 Kg ). TRADITIONAL ROTARY ACTUATORS ( can t mimic the antagonistic feature of human muscles). APPEARANCE : look more like assembly of mechanical components and electronics. 30/11/2018 13
SMART ACTUATORS FOR ARTIFICIAL MUSCLE McKibben artificial muscle Shape Memory Alloys ( SMAs) 30/11/2018 14
MCKIBBEN ARTIFICIAL MUSCLES McKibben artificial muscles are contractile or extensional devices operated by pressurized air. Fig. Air muscle contracting and extending [21,22] [21] DAERDEN, FRANK, AND DIRK LEFEBER. "PNEUMATIC ARTIFICIAL MUSCLES: ACTUATORS FOR ROBOTICS AND AUTOMATION." EUROPEAN JOURNAL OF MECHANICAL AND ENVIRONMENTAL ENGINEERING 47.1 (2002): 11-21. [22] HTTPS://EN.WIKIPEDIA.ORG/WIKI/FILE:SAM_ANIMATION-REAL-MUSCLE.GIF#FILELINKS [23] VIDEO LINK: HTTPS://WWW.YOUTUBE.COM/WATCH?V=0ZBD2TCKOU4&LIST=PLG22NKIYTG3DZKBNEUCE_X0FINWHYC_NK 30/11/2018 15
MCKIBBEN ARTIFICIAL MUSCLES Fig. Air muscle under constant load[21] Fig. Isobaric force-contraction diagrams [21] DAERDEN, FRANK, AND DIRK LEFEBER. "PNEUMATIC ARTIFICIAL MUSCLES: ACTUATORS FOR ROBOTICS AND AUTOMATION." EUROPEAN JOURNAL OF MECHANICAL AND ENVIRONMENTAL ENGINEERING 47.1 (2002): 11-21. 30/11/2018 16
MCKIBBEN ARTIFICIAL MUSCLES 1. At minimum contraction, as the pressure increases, the force also increases. 2. As the percent contraction increases, the force decreases at each pressure. This is similar to the human muscle. The force drops from its highest value at full muscle length to zero at full muscle contraction. Fig. Isobaric force-contraction diagrams [21] DAERDEN, FRANK, AND DIRK LEFEBER. "PNEUMATIC ARTIFICIAL MUSCLES: ACTUATORS FOR ROBOTICS AND AUTOMATION." EUROPEAN JOURNAL OF MECHANICAL AND ENVIRONMENTAL ENGINEERING 47.1 (2002): 11-21. 30/11/2018 17
MCKIBBEN ARTIFICIAL MUSCLES Differences Skeletal muscles: Do not change volume during contraction Have a modular structure (they are made up of parallel and series connected microscopic contractile systems) Have integrated multiple force and strain sensors Have energy stored in them and running through them Can serve as energy source or even building material for muscles of other biological systems Similarities Monotonically decreasing load-contraction relation Both need to be setup antagonistically in order to allow bidirectional motion [21] DAERDEN, FRANK, AND DIRK LEFEBER. "PNEUMATIC ARTIFICIAL MUSCLES: ACTUATORS FOR ROBOTICS AND AUTOMATION." EUROPEAN JOURNAL OF MECHANICAL AND ENVIRONMENTAL ENGINEERING 47.1 (2002): 11-21. 30/11/2018 18
SHAPE MEMORY ALLOYS Commercially available as NiTi or Nitinol wires or springs. Shape Memory Effect (SME) : At low temperature SMA can be deform plastically but this plastic strain can be recover by increasing temperature this is called Shape Memory Effect (SME). [24] [24] HTTP://WWW.ISSP.AC.RU/EBOOKS/BOOKS/OPEN/SHAPE_MEMORY_ALLOYS.PDF [25] HTTPS://WWW.YOUTUBE.COM/PLAYLIST?LIST=PLG22NKIYTG3CBOFJ9LQBXWX3JJGZT7DJW 30/11/2018 19
SHAPE MEMORY ALLOYS How to make a NiTiol wire memorize a Shape? Answer: Shape setting operation: Heat treatment/ Annealing above phase transformation temperature. Bake SMA (~410 C) Deformed to Any Shape Restores to its Pre- Deformed Shape Apply Heat (~ 80 C) [26] HTTPS://WWW.YOUTUBE.COM/WATCH?V=-K57CBOHA5G&START_RADIO=1&LIST=RDQMHW63QSIR_9G 30/11/2018 20
SHAPE MEMORY ALLOYS Fig. Actuation force at different annealing temperature[24] Fig. Analysis of Force at Different Voltage and Pulse Time[24] [24] HTTP://WWW.ISSP.AC.RU/EBOOKS/BOOKS/OPEN/SHAPE_MEMORY_ALLOYS.PDF 30/11/2018 21
SHAPE MEMORY ALLOYS: A SIMPLE ACTUATOR CONFIGURATION Fig. Sketch map of a compact flexible actuator [25] [25] YANG, K., AND C. L. GU. "A COMPACT AND FLEXIBLE ACTUATOR BASED ON SHAPE MEMORY ALLOY SPRINGS." PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS, PART C: JOURNAL OF MECHANICAL ENGINEERING SCIENCE 222.7 (2008): 1329-1337. 30/11/2018 22
3 DOF SHOULDER JOINT Sun Gear Z Motor 1 Motor 2 X Planet Gear Simple Gear Train Y Motor 3 30/11/2018 23
3DOF SHOULDER JOINT 24
3DOF SHOULDER JOINT 25
3DOF SHOULDER JOINT 26
3DOF SHOULDER JOINT 27
3DOF SHOULDER JOINT 28
2 DOF ELBOW JOINT 29
2 DOF ELBOW JOINT 30
2 DOF WRIST JOINT 31
2DOF WRIST JOINT 32
HAND DESIGN BASED ON FIBONACCI SERIES (GOLDEN RATIO) Their average data from 197 subjects shows that the ratio of the distance from the metacarpophalangeal joint to the proximal interphalangeal joint (MCP-PIP) and the distance from PIP to phalangeal tip is 1:1 in all the fingers. The ratio of the distance from the PIP to the distal interphalangeal joint (PIP-DIP) and the distance from the DIP to the phalangeal tip (DIP-tip) is 1.3:1 for the index, middle, and ring fingers and 1:1 for the little finger. In other words, the ratios of the DIP-tip/PIP-DIP/MCP-PIP distances were 1:1:2 for the little finger and 1:1.3:2.3 for the other fingers. [26] Fig. Functional lengths of the phalanges as determined by Hamilton (Journal of Hand Surgery (Edinburgh, Scotland) 27:546, 2002 [26] [26] BASHOUR M. HISTORY AND CURRENT CONCEPTS IN THE ANALYSIS OF FACIAL ATTRACTIVENESS. PLAST RECONSTR SURG. 2006;118(3):741 56. 30/11/2018 33
HAND DESIGN BASED ON FIBONACCI SERIES (GOLDEN RATIO) I M R L T Table 1 Based on the data provided by Habib et. al. in [9] Finger Name Tip-DIP (cm) DIP-PIP (cm) PIP-MCP (cm) Index Finger (I) 2.23 1.3 x I =2.89 2.3 x I = 5.13 Mid Finger (M) 2.44 1.3 x M =3.1 2.3 x M =5.61 Ring Finger (R) 2.12 1.3 x R = 2.75 2.3 x R = 4.87 Little Finger (L) 1.79 1 x L = 1.79 2 x L = 3.58
HAND DESIGN BASED ON FIBONACCI SERIES (GOLDEN RATIO) Phalanges lengths of left hand of an Egyptian female[27] 35 [27] HABIB, SAHAR REFAAT, AND NASHWA NABIL KAMAL. "STATURE ESTIMATION FROM HAND AND PHALANGES LENGTHS OF EGYPTIANS." JOURNAL OF FORENSIC AND LEGAL MEDICINE 17.3 (2010): 156-160.
HAND DESIGN EXPLAINED Slot for Thermocouple and FRS (Dimensions of the sensors have been Considered during designing) Slot for Connecting Wires A Slot on the Back Side for Accelerometer ( IMU ) Slot Bowden Cables 30/11/2018 36
HAND DESIGN DIMENSIONS 30/11/2018 37
HAND DESIGN DIMENSIONS Design Tip to Wrist Width of Palm Thickness of Palm 166.42 mm 72.46 mm 10. 00 mm Hand dimension measuring on a 2D image by using CorelDRAW X5[27]. [27] HABIB, SAHAR REFAAT, AND NASHWA NABIL KAMAL. "STATURE ESTIMATION FROM HAND AND PHALANGES LENGTHS OF EGYPTIANS." JOURNAL OF FORENSIC AND LEGAL MEDICINE 17.3 (2010): 156-160. 30/11/2018 38
HAND DESIGN SIMULATIONS 1 30/11/2018 39
HAND DESIGN SIMULATIONS 2 30/11/2018 40
HAND DESIGN SIMULATIONS 3 30/11/2018 41
CONCLUSION AND FUTURE SCOPE Muscles in human arm work in pairs. A robotic arm with such antagonistic muscle pairs has to be developed with sensing capabilities. Existing robotic arms use traditional actuators, are bulky and don t have appearance like a human arm. A design based on Fibonacci series ( Golden Ratio) is proposed. The current idea is to use either Bowden cables or SMA in the robotic arm and hand, so the design has been prepared accordingly. 30/11/2018 42
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