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--- vega_darwin [2019/04/05 10:39] – jeanvaz
+++ vega_darwin [2019/04/09 14:07] (current) – [Annotated References] yuhanghe
@@ Line 139: / Line 139: @@
 **Author:** Jean Vaz, Fausto Vega and Yu Hang  **Email:** <chagasva@unlv.nevada.edu>
 \\
-**Date:** Last modified on 04/05/19
+**Date:** Last modified on 04/04/19
 \\
 **Keywords:** Teleoperation, Exoskeleton, Human-machine Interface.
@@ Line 154: / Line 154: @@
 Keywords: Humanoids, telerobotics, tele-operation, virtual reality
-Hasunuma, H., Kobayashi, M., Moriyama, H., Itoko, T., Yanagihara, Y., Ueno, T., Ohya, K., & Yokoil, K. (2002). A tele-operated humanoid robot drives a lift truck. In 2002 IEEE International Conference on Robotics and Automation (ICRA). Washington D.C, USA: IEEE RAS. doi:10.1109/ROBOT.2002.1013566
+Mallwitz, M., Will, N., Teiwes, J. and Kirchner, E.A., 2015. The capio active upper body exoskeleton and its application for teleoperation. In Proceedings of the 13th Symposium on Advanced Space Technologies in Robotics and Automation. ESA/Estec Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA-2015). ESA.
 This paper describes using a active dual-arm upper body exoskeleton for the teleoperation of an humanoid robot. The authors present a solution for the kinematics and dynamics in real-time for the Capio exoskeleton in order to control the robot AILA. From this presentation, the paper concludes that the Capio exoskeleton was successful integrated into the virtual environment CAVE.
@@ Line 162: / Line 162: @@
 The paper presents the following theoretical principles: tele-operation parameters & input/output. Little discussion was provided on the humanoid robot principles, however these were provided in some of the cited works.
-The principles behind the tele-operation are explained fairly, however no specifics of equations or algorithms used are provided.
+From the principles and results, the paper concludes that the having the Capio Exoskeleton teleoperating the humanoid robot AILA in ISS mockup is viable, with the following improvements: (1) Improved in manipulation, such as turn switches ; (2) Improved simulations with the simulated lunar mission such as recharging the robots battery at the lander module and submitting the robots status to the ground control; and (3) Improved visual feedback, by having the POV of the robot and the CAD real-time simulation.
-From the principles and results, the paper concludes that the humanoid robot operating the construction machinery is viable, with the following improvements: (1) Improved software for leg-control during stair climbing; (2) Software for checking the collisions between the robot & the machine, and also for collisions between the machine and the environment; and (3) Improved visual feedback, including zoom functionality for the on-board camera.
 I liked this paper because: (1) it presents fundamental work toward utilizing a exoskeleton to manipulate AILA robot; (2) it utilized two types of system integration "CAD model" for the kinematics and "exoskeleton" for toque/force feedback; and (3) it provided comprehensive experimental results for the tele-operation by showing external torques on the Capio exoskeleton transferred from AILA upper arm rotation.
 However, I lit bit of more explanation on the fundamental kinematics of their CAD mode could have been extremely helpful to the reader.
-Three things I learned from this paper were: (1) the basics of design, control and software features for tele-operation; (2) the interaction between the wearable exoskeleton and the physical platform; and (3) insight on how to translate master commands into slave operations.
+Three things I learned from this paper were: (1) the basics of design, control and software features for tele-operation; (2) the interaction between the wearable exoskeleton and the physical platform; and (3) safety features implemented in the system to avoid any major damage.
-**2.** [[http://ieeexplore.ieee.org/document/7803299/|Cooperative human-robot control based on Fitts' law]]\\
+**2.** [[http://ieeexplore.ieee.org/abstract/document/8307881/|An effective and affordable technique for human motion capturing and teleoperation of a humanoid robot using an exoskeleton]]\\
-Publisher: Humanoids 2016\\
+Publisher: Humanoids 2017\\
-Keywords: Fitt's Law, Teleoperation, Haptics
+Keywords: Humanoid Robot, Exoskeleton, Motion Capture, Affordable Teleoperation Technique, Image Processing.
-Petric, T., Goljat, R., & Babic, J. (2016). Cooperative human-robot control based on Fitts' law. In 2016 IEEE-RAS 16th International Conference on Humanoid Robots. Cancun, Mexico: IEEE-RAS. doi:10.1109/HUMANOIDS.2016.7803299
+Sinha, A.K., Sahu, S.K., Bijarniya, R.K. and Patra, K., 2017, December. An effective and affordable technique for human motion capturing and teleoperation of a humanoid robot using an exoskeleton. In 2017 2nd International Conference on Man and Machine Interfacing (MAMI) (pp. 1-6). IEEE.
-This paper describes a human operator working together with a haptic robot to control an object on a screen.  The authors present theory of Fitt's law, the control algorithm, and experimental results of the cooperative control. From this presentation, the paper concludes that their control algorithm adapted properly, and quickly, demonstrating efficient cooperation with the human operator, and follows Fitt's Law.
+This paper describes using a active dual-arm upper body exoskeleton for the teleoperation of an humanoid robot. The authors present a solution for the kinematics and dynamics in real-time for the Capio exoskeleton in order to control the robot AILA. From this presentation, the paper concludes that the Capio exoskeleton was successful integrated into the virtual environment CAVE.
-From the state-of-the-art, the paper identifies challenges in a human cooperating with a robot without slowing the human down. The paper addresses these challenges by creating a control algorithm that allows the movement to be faster.  The results of this approach are verified through the experiment, and novel due to the direct cooperation between the robot and the human.
+From the state-of-the-art, the paper identifies challenges with haptic devices. The paper addresses these challenges by introducing Capio exoskeleton which is a wearable bakc back with 8 DOF per arm. The results of this approach are novel, showing that a humanoid robot can be used to operate construction machinery, as well as many other devices, giving them flexibility over traditional single-purpose automation.
-The paper presents the following theoretical principles: (1) Fitt's Law for HCI;
+The paper presents the following theoretical principles: tele-operation parameters & input/output. Little discussion was provided on the humanoid robot principles, however these were provided in some of the cited works.
-(2) Parameter tuning for each individual model; and (3) the control algorithm used to move the robot, using Dynamic Movement Primitives.
-The principles are explained well. For example the equations given show the correct and thorough application of Fitt's Law and Dynamic Movement Primitives application of the principles.
+From the principles and results, the paper concludes that the having the Capio Exoskeleton teleoperating the humanoid robot AILA in ISS mockup is viable, with the following improvements: (1) Improved in manipulation, such as turn switches ; (2) Improved simulations with the simulated lunar mission such as recharging the robots battery at the lander module and submitting the robots status to the ground control; and (3) Improved visual feedback, by having the POV of the robot and the CAD real-time simulation.
-From the principles and results, the paper concludes: (1) the control algorithm learns very quickly, even adapting within the first trial; (2) the models of the human and the robot converge after a few trials; (3) the models of all subject converge within standard deviation; and (4) all models adhere to Fitt's Law, demonstrating validity.
-I liked this paper because: (1) it demonstrated the use of Fitt's Law in order to control a robot; (2) it utilized haptics in order for a robot and a human to cooperate on a manipulation task; and (3) extensive data was provided for all subjects, and the data demonstrated a positive adherence to the principles provided. I would have liked to see better explanation of the setup that physically linked the human operator and the haptic robot.
+I liked this paper because: (1) it presents fundamental work toward utilizing a exoskeleton to manipulate AILA robot; (2) it utilized two types of system integration "CAD model" for the kinematics and "exoskeleton" for toque/force feedback; and (3) it provided comprehensive experimental results for the tele-operation by showing external torques on the Capio exoskeleton transferred from AILA upper arm rotation.
+However, I lit bit of more explanation on the fundamental kinematics of their CAD mode could have been extremely helpful to the reader.
-Three things I learned from this paper were: (1) how to utilize Fitt's Law for control and learning of cooperative manipulation; (2) how to utilize Dynamic Movement Primitives to calculate the trajectory and path of a robot;
+Three things I learned from this paper were: (1) the basics of design, control and software features for tele-operation; (2) the interaction between the wearable exoskeleton and the physical platform; and (3) safety features implemented in the system to avoid any major damage.
-and (3) how to utilize haptics in order to increase cooperative control of a system.
-**3.** [[http://ieeexplore.ieee.org/document/676261/|Internet-Based Remote Teleoperation]]\\
-Publisher: IEEE Conference on Robotics and Automation (ICRA) (1998)\\
-Keywords: Teleoperation, Internet, network
-Brady, K., & Tarn, T. (1998). Internet-based remote teleoperation. Belgium: IEEE. doi:10.1109/ROBOT.1998.676261
+**3.** [[http://ieeexplore.ieee.org/abstract/document/8307881/|An effective and affordable technique for human motion capturing and teleoperation of a humanoid robot using an exoskeleton]]\\
+Publisher: Humanoids 2017\\
+Keywords: Humanoid Robot, Exoskeleton, Motion Capture, Affordable Teleoperation Technique, Image Processing.
-This paper describes utilizing the Internet to teleoperate robots over long-distance connections, by utilizing a predictive model of the robot and a state-space model for the delay. The authors present theory and experimental results. From this presentation, the paper concludes
+Sinha, A.K., Sahu, S.K., Bijarniya, R.K. and Patra, K., 2017, December. An effective and affordable technique for human motion capturing and teleoperation of a humanoid robot using an exoskeleton. In 2017 2nd International Conference on Man and Machine Interfacing (MAMI) (pp. 1-6). IEEE.
-that the model of the robot is sufficient to deal with the delay in high-latency teleoperation.
+This paper describes using a active dual-arm upper body exoskeleton for the teleoperation of an humanoid robot. The authors present a solution for the kinematics and dynamics in real-time for the Capio exoskeleton in order to control the robot AILA. From this presentation, the paper concludes that the Capio exoskeleton was successful integrated into the virtual environment CAVE.
-From the state-of-the-art, the paper identifies challenges in in setting up network for communication, as they are specialized. The paper addresses these challenges by utilizing the Internet as the network for communication.  The results of this approach are valid and novel.
+From the state-of-the-art, the paper identifies challenges with haptic devices. The paper addresses these challenges by introducing Capio exoskeleton which is a wearable bakc back with 8 DOF per arm. The results of this approach are novel, showing that a humanoid robot can be used to operate construction machinery, as well as many other devices, giving them flexibility over traditional single-purpose automation.
-The paper presents the following theoretical principles: (1) State space formulation of the delay; and (2) Time delay estimation.
+The paper presents the following theoretical principles: tele-operation parameters & input/output. Little discussion was provided on the humanoid robot principles, however these were provided in some of the cited works.
-The principles are explained well, and in detail. For example the equations for the state space formulation show the correct application of the principles.
+From the principles and results, the paper concludes that the having the Capio Exoskeleton teleoperating the humanoid robot AILA in ISS mockup is viable, with the following improvements: (1) Improved in manipulation, such as turn switches ; (2) Improved simulations with the simulated lunar mission such as recharging the robots battery at the lander module and submitting the robots status to the ground control; and (3) Improved visual feedback, by having the POV of the robot and the CAD real-time simulation.
-From the principles and results, the paper concludes: (1) The predictive model is useful for unexpected circumstances during control; (2) the state space formulation works well under high-latency; and (3) .
-I liked this paper because: (1) It utilized the Internet, a readily available resource, to control the robot; (2) It dealt with high-latency communications by switching from time delay to a state space model; and (3) It utilized a predictive model that accurately guided the operator throughout the heavily delayed control. However, I would have liked to see picture of their predictive model, and how it compared to the delayed image displayed on screen.
+I liked this paper because: (1) it presents fundamental work toward utilizing a exoskeleton to manipulate AILA robot; (2) it utilized two types of system integration "CAD model" for the kinematics and "exoskeleton" for toque/force feedback; and (3) it provided comprehensive experimental results for the tele-operation by showing external torques on the Capio exoskeleton transferred from AILA upper arm rotation.
+However, I lit bit of more explanation on the fundamental kinematics of their CAD mode could have been extremely helpful to the reader.
-Three things I learned from this paper were: (1) How to estimate the time delay in a system; (2) How to utilize a state space model for high-latency control; and (3) How to keep effectively the human-in-the-loop, even with an autonomous and delayed system.
+Three things I learned from this paper were: (1) the basics of design, control and software features for tele-operation; (2) the interaction between the wearable exoskeleton and the physical platform; and (3) safety features implemented in the system to avoid any major damage.
+**4.** [[http://ieeexplore.ieee.org/abstract/document/8307881/|An effective and affordable technique for human motion capturing and teleoperation of a humanoid robot using an exoskeleton]]\\
+Publisher: Humanoids 2017\\
+Keywords: Humanoid Robot, Exoskeleton, Motion Capture, Affordable Teleoperation Technique, Image Processing.
+Sinha, A.K., Sahu, S.K., Bijarniya, R.K. and Patra, K., 2017, December. An effective and affordable technique for human motion capturing and teleoperation of a humanoid robot using an exoskeleton. In 2017 2nd International Conference on Man and Machine Interfacing (MAMI) (pp. 1-6). IEEE.
+This paper describes using a active dual-arm upper body exoskeleton for the teleoperation of an humanoid robot. The authors present a solution for the kinematics and dynamics in real-time for the Capio exoskeleton in order to control the robot AILA. From this presentation, the paper concludes that the Capio exoskeleton was successful integrated into the virtual environment CAVE.
+From the state-of-the-art, the paper identifies challenges with haptic devices. The paper addresses these challenges by introducing Capio exoskeleton which is a wearable bakc back with 8 DOF per arm. The results of this approach are novel, showing that a humanoid robot can be used to operate construction machinery, as well as many other devices, giving them flexibility over traditional single-purpose automation.
+The paper presents the following theoretical principles: tele-operation parameters & input/output. Little discussion was provided on the humanoid robot principles, however these were provided in some of the cited works.
+From the principles and results, the paper concludes that the having the Capio Exoskeleton teleoperating the humanoid robot AILA in ISS mockup is viable, with the following improvements: (1) Improved in manipulation, such as turn switches ; (2) Improved simulations with the simulated lunar mission such as recharging the robots battery at the lander module and submitting the robots status to the ground control; and (3) Improved visual feedback, by having the POV of the robot and the CAD real-time simulation.
+I liked this paper because: (1) it presents fundamental work toward utilizing a exoskeleton to manipulate AILA robot; (2) it utilized two types of system integration "CAD model" for the kinematics and "exoskeleton" for toque/force feedback; and (3) it provided comprehensive experimental results for the tele-operation by showing external torques on the Capio exoskeleton transferred from AILA upper arm rotation.
+However, I lit bit of more explanation on the fundamental kinematics of their CAD mode could have been extremely helpful to the reader.
+Three things I learned from this paper were: (1) the basics of design, control and software features for tele-operation; (2) the interaction between the wearable exoskeleton and the physical platform; and (3) safety features implemented in the system to avoid any major damage.
+**5.** [[http://ieeexplore.ieee.org/abstract/document/8307881/|An effective and affordable technique for human motion capturing and teleoperation of a humanoid robot using an exoskeleton]]\\
+Publisher: Humanoids 2017\\
+Keywords: Humanoid Robot, Exoskeleton, Motion Capture, Affordable Teleoperation Technique, Image Processing.
+Sinha, A.K., Sahu, S.K., Bijarniya, R.K. and Patra, K., 2017, December. An effective and affordable technique for human motion capturing and teleoperation of a humanoid robot using an exoskeleton. In 2017 2nd International Conference on Man and Machine Interfacing (MAMI) (pp. 1-6). IEEE.
+This paper describes using a active dual-arm upper body exoskeleton for the teleoperation of an humanoid robot. The authors present a solution for the kinematics and dynamics in real-time for the Capio exoskeleton in order to control the robot AILA. From this presentation, the paper concludes that the Capio exoskeleton was successful integrated into the virtual environment CAVE.
+From the state-of-the-art, the paper identifies challenges with haptic devices. The paper addresses these challenges by introducing Capio exoskeleton which is a wearable bakc back with 8 DOF per arm. The results of this approach are novel, showing that a humanoid robot can be used to operate construction machinery, as well as many other devices, giving them flexibility over traditional single-purpose automation.
+The paper presents the following theoretical principles: tele-operation parameters & input/output. Little discussion was provided on the humanoid robot principles, however these were provided in some of the cited works.
+From the principles and results, the paper concludes that the having the Capio Exoskeleton teleoperating the humanoid robot AILA in ISS mockup is viable, with the following improvements: (1) Improved in manipulation, such as turn switches ; (2) Improved simulations with the simulated lunar mission such as recharging the robots battery at the lander module and submitting the robots status to the ground control; and (3) Improved visual feedback, by having the POV of the robot and the CAD real-time simulation.
+I liked this paper because: (1) it presents fundamental work toward utilizing a exoskeleton to manipulate AILA robot; (2) it utilized two types of system integration "CAD model" for the kinematics and "exoskeleton" for toque/force feedback; and (3) it provided comprehensive experimental results for the tele-operation by showing external torques on the Capio exoskeleton transferred from AILA upper arm rotation.
+However, I lit bit of more explanation on the fundamental kinematics of their CAD mode could have been extremely helpful to the reader.
+Three things I learned from this paper were: (1) the basics of design, control and software features for tele-operation; (2) the interaction between the wearable exoskeleton and the physical platform; and (3) safety features implemented in the system to avoid any major damage.
+**6.** [[http://ieeexplore.ieee.org/abstract/document/8307881/|An effective and affordable technique for human motion capturing and teleoperation of a humanoid robot using an exoskeleton]]\\
+Publisher: Humanoids 2017\\
+Keywords: Humanoid Robot, Exoskeleton, Motion Capture, Affordable Teleoperation Technique, Image Processing.
+Sinha, A.K., Sahu, S.K., Bijarniya, R.K. and Patra, K., 2017, December. An effective and affordable technique for human motion capturing and teleoperation of a humanoid robot using an exoskeleton. In 2017 2nd International Conference on Man and Machine Interfacing (MAMI) (pp. 1-6). IEEE.
+This paper describes using a active dual-arm upper body exoskeleton for the teleoperation of an humanoid robot. The authors present a solution for the kinematics and dynamics in real-time for the Capio exoskeleton in order to control the robot AILA. From this presentation, the paper concludes that the Capio exoskeleton was successful integrated into the virtual environment CAVE.
+From the state-of-the-art, the paper identifies challenges with haptic devices. The paper addresses these challenges by introducing Capio exoskeleton which is a wearable bakc back with 8 DOF per arm. The results of this approach are novel, showing that a humanoid robot can be used to operate construction machinery, as well as many other devices, giving them flexibility over traditional single-purpose automation.
+The paper presents the following theoretical principles: tele-operation parameters & input/output. Little discussion was provided on the humanoid robot principles, however these were provided in some of the cited works.
+From the principles and results, the paper concludes that the having the Capio Exoskeleton teleoperating the humanoid robot AILA in ISS mockup is viable, with the following improvements: (1) Improved in manipulation, such as turn switches ; (2) Improved simulations with the simulated lunar mission such as recharging the robots battery at the lander module and submitting the robots status to the ground control; and (3) Improved visual feedback, by having the POV of the robot and the CAD real-time simulation.
+I liked this paper because: (1) it presents fundamental work toward utilizing a exoskeleton to manipulate AILA robot; (2) it utilized two types of system integration "CAD model" for the kinematics and "exoskeleton" for toque/force feedback; and (3) it provided comprehensive experimental results for the tele-operation by showing external torques on the Capio exoskeleton transferred from AILA upper arm rotation.
+However, I lit bit of more explanation on the fundamental kinematics of their CAD mode could have been extremely helpful to the reader.
+Three things I learned from this paper were: (1) the basics of design, control and software features for tele-operation; (2) the interaction between the wearable exoskeleton and the physical platform; and (3) safety features implemented in the system to avoid any major damage.
+. [[https://ieeexplore.ieee.org/document/6198287|Intention-Based EMG Control for Powered Exoskeletons]]\\
+Publisher: IEEE Transactions on Biomedical Engineering 2012\\
+Keywords: Biomedical Engineering, Exoskeleton, EMG, human-assistive robotics
+T. Lenzi, S. M. M. De Rossi, N. Vitiello and M. C. Carrozza, "Intention-Based EMG Control for Powered Exoskeletons," in IEEE Transactions on Biomedical Engineering, vol. 59, no. 8, pp. 2180-2190, Aug. 2012.
+This paper describes using Electromyographical (EMG) signals to control an elbow powered exoskeleton.  The authors presents the description of the simple EMG-based proportional control system and its implementation on the NEUROExos platform, a powered exoskeleton for elbow assistance. The authors presents the results of ten healthy subjects' participation in experimentations where this technology was used to produce simple periodic elbow movement. From this presentation, the paper concludes that, even with a simple proportional EMG control, subjects adapt almost instantaneously to the assistance provided by the robot and can reduce their muscular effort while maintaining control of the movement.
+From the state-of-the-art, the paper identifies challenges in using EMG signals to estimate human muscular torques and apply this information effectively on human-assistive robotics. The technique is highly limited by the necessity of complex user-dependent and session-dependent calibration procedures. The paper addresses these challenges by proposing a simple proportional EMG control where users can calibrate the proportional gains independently in short amount of time.  The results of this approach are that subjects can quickly adapt to the proportional EMG control based elbow exoskeleton and use the skeleton to control their arm movement in sync with designed visual and audio feed-back.
+The paper presents the following theoretical principles: (1) The central nervous system's ability to adapt to external motor disturbances can allow subjects to compensate for the inaccuracy of EMG-signal-based torque estimation;(2) A simple proportional EMG control system applied on exoskeleton can allow subjects to benefit from assistive power from robot without needs for high precision muscular torque measurement; and (3) a simple calibration process where the subject adjust the gain value directly while testing the system.
+The principles are explained fairly.  For example the experimentation method show the correct application of the principles.
+From the principles and results, the paper concludes: (1) a proportional EMG control applied to exoskeleton is sufficient to provide movement assistance; (2) subjects were able to maintain control of movement and accuracy of movement in both amplitude and frequency; and (n) subjects were able to adapt to the assistance provided by exoskeleton in short periods of time (a few seconds).
+I liked this paper because the authors were able to arrange experimentation that provided positive experimental results that support their hypothesis. I disliked this paper because the author made assertive conclusion based on a narrow experimentation arrangement. The experiment only focused on one degree-of-freedom elbow movement. Furthermore, visual and audio feedback on the accuracy of movement could have contributed to the success. I would have liked to see the authors apply the same control system on multiple-degree-of-freedom exoskeleton and limit the effect of visual and audio feedback.
+Three things I learned from this paper were: (1) the limitation of EMG signal in estimate muscular torque; (2) the limitation of extensive session and individual-dependent calibration process for assistive technology;
+and (3) central nervous system's ability to adapt can overcome the inaccuracy in technology.