Matching Items (26)
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- All Subjects: robotics
- Genre: Academic theses
- Creators: Artemiadis, Panagiotis
Description
Electromyogram (EMG)-based control interfaces are increasingly used in robot teleoperation, prosthetic devices control and also in controlling robotic exoskeletons. Over the last two decades researchers have come up with a plethora of decoding functions to map myoelectric signals to robot motions. However, this requires a lot of training and validation data sets, while the parameters of the decoding function are specific for each subject. In this thesis we propose a new methodology that doesn't require training and is not user-specific. The main idea is to supplement the decoding functional error with the human ability to learn inverse model of an arbitrary mapping function. We have shown that the subjects gradually learned the control strategy and their learning rates improved. We also worked on identifying an optimized control scheme that would be even more effective and easy to learn for the subjects. Optimization was done by taking into account that muscles act in synergies while performing a motion task. The low-dimensional representation of the neural activity was used to control a two-dimensional task. Results showed that in the case of reduced dimensionality mapping, the subjects were able to learn to control the device in a slower pace, however they were able to reach and retain the same level of controllability. To summarize, we were able to build an EMG-based controller for robot devices that would work for any subject, without any training or decoding function, suggesting human-embedded controllers for robotic devices.
ContributorsAntuvan, Chris Wilson (Author) / Artemiadis, Panagiotis (Thesis advisor) / Muthuswamy, Jitendran (Committee member) / Santos, Veronica J (Committee member) / Arizona State University (Publisher)
Created2013
Description
Tolerances on line profiles are used to control cross-sectional shapes of parts, such as turbine blades. A full life cycle for many mechanical devices depends (i) on a wise assignment of tolerances during design and (ii) on careful quality control of the manufacturing process to ensure adherence to the specified tolerances. This thesis describes a new method for quality control of a manufacturing process by improving the method used to convert measured points on a part to a geometric entity that can be compared directly with tolerance specifications. The focus of this paper is the development of a new computational method for obtaining the least-squares fit of a set of points that have been measured with a coordinate measurement machine along a line-profile. The pseudo-inverse of a rectangular matrix is used to convert the measured points to the least-squares fit of the profile. Numerical examples are included for convex and concave line-profiles, that are formed from line- and circular arc-segments.
ContributorsSavaliya, Samir (Author) / Davidson, Joseph K. (Thesis advisor) / Shah, Jami J. (Committee member) / Santos, Veronica J (Committee member) / Arizona State University (Publisher)
Created2013
Description
As robotic systems are used in increasingly diverse applications, the interaction of humans and robots has become an important area of research. In many of the applications of physical human robot interaction (pHRI), the robot and the human can be seen as cooperating to complete a task with some object of interest. Often these applications are in unstructured environments where many paths can accomplish the goal. This creates a need for the ability to communicate a preferred direction of motion between both participants in order to move in coordinated way. This communication method should be bidirectional to be able to fully utilize both the robot and human capabilities. Moreover, often in cooperative tasks between two humans, one human will operate as the leader of the task and the other as the follower. These roles may switch during the task as needed. The need for communication extends into this area of leader-follower switching. Furthermore, not only is there a need to communicate the desire to switch roles but also to control this switching process. Impedance control has been used as a way of dealing with some of the complexities of pHRI. For this investigation, it was examined if impedance control can be utilized as a way of communicating a preferred direction between humans and robots. The first set of experiments tested to see if a human could detect a preferred direction of a robot by grasping and moving an object coupled to the robot. The second set tested the reverse case if the robot could detect the preferred direction of the human. The ability to detect the preferred direction was shown to be up to 99% effective. Using these results, a control method to allow a human and robot to switch leader and follower roles during a cooperative task was implemented and tested. This method proved successful 84% of the time. This control method was refined using adaptive control resulting in lower interaction forces and a success rate of 95%.
ContributorsWhitsell, Bryan (Author) / Artemiadis, Panagiotis (Thesis advisor) / Santello, Marco (Committee member) / Santos, Veronica (Committee member) / Arizona State University (Publisher)
Created2014
Description
As robots are increasingly migrating out of factories and research laboratories and into our everyday lives, they should move and act in environments designed for humans. For this reason, the need of anthropomorphic movements is of utmost importance. The objective of this thesis is to solve the inverse kinematics problem of redundant robot arms that results to anthropomorphic configurations. The swivel angle of the elbow was used as a human arm motion parameter for the robot arm to mimic. The swivel angle is defined as the rotation angle of the plane defined by the upper and lower arm around a virtual axis that connects the shoulder and wrist joints. Using kinematic data recorded from human subjects during every-day life tasks, the linear sensorimotor transformation model was validated and used to estimate the swivel angle, given the desired end-effector position. Defining the desired swivel angle simplifies the kinematic redundancy of the robot arm. The proposed method was tested with an anthropomorphic redundant robot arm and the computed motion profiles were compared to the ones of the human subjects. This thesis shows that the method computes anthropomorphic configurations for the robot arm, even if the robot arm has different link lengths than the human arm and starts its motion at random configurations.
ContributorsWang, Yuting (Author) / Artemiadis, Panagiotis (Thesis advisor) / Mignolet, Marc (Committee member) / Santos, Veronica J (Committee member) / Arizona State University (Publisher)
Created2013
Description
Small metallic parts of size less than 1mm, with features measured in tens of microns, with tolerances as small as 0.1 micron are in demand for the research in many fields such as electronics, optics, and biomedical engineering. Because of various drawbacks with non-mechanical micromanufacturing processes, micromilling has shown itself to be an attractive alternative manufacturing method. Micromilling is a microscale manufacturing process that can be used to produce a wide range of small parts, including those that have complex 3-dimensional contours. Although the micromilling process is superficially similar to conventional-scale milling, the physical processes of micromilling are unique due to the scale effects. These scale effects occur due to unequal scaling of the parameters from the macroscale to the microscale milling. One key example of scale effects in micromilling process is a geometrical source of error known as chord error. The chord error limits the feedrate to a reduced value to produce the features within machining tolerances. In this research, it is hypothesized that the increase of chord error in micromilling can be alleviated by intelligent modification of the kinematic arrangement of the micromilling machine. Currently, all 3-axis micromilling machines are constructed with a Cartesian kinematic arrangement with three perpendicular linear axes. In this research, the cylindrical kinematic arrangement is introduced, and an analytical expression for the chord error for this arrangement is derived. The numerical simulations are performed to evaluate the chord errors for the cylindrical kinematic arrangement. It is found that cylindrical kinematic arrangement gives reduced chord error for some types of the desired toolpaths. Then, the kinematic redundancy is introduced to design a novel kinematic arrangement. Several desired toolpaths have been numerically simulated to evaluate the chord error for kinematically redundant arrangement. It is concluded that this arrangement gives up to 5 times reduced error for all the desired toolpaths considered, and allows significant gains in allowable feedrates.
ContributorsChukewad, Yogesh Madhavrao (Author) / SODEMANN, ANGELA A (Thesis advisor) / Davidson, Joseph K. (Thesis advisor) / Santos, Veronica J (Committee member) / Arizona State University (Publisher)
Created2014
Description
Myoelectric control is lled with potential to signicantly change human-robot interaction.
Humans desire compliant robots to safely interact in dynamic environments
associated with daily activities. As surface electromyography non-invasively measures
limb motion intent and correlates with joint stiness during co-contractions,
it has been identied as a candidate for naturally controlling such robots. However,
state-of-the-art myoelectric interfaces have struggled to achieve both enhanced
functionality and long-term reliability. As demands in myoelectric interfaces trend
toward simultaneous and proportional control of compliant robots, robust processing
of multi-muscle coordinations, or synergies, plays a larger role in the success of the
control scheme. This dissertation presents a framework enhancing the utility of myoelectric
interfaces by exploiting motor skill learning and
exible muscle synergies for
reliable long-term simultaneous and proportional control of multifunctional compliant
robots. The interface is learned as a new motor skill specic to the controller,
providing long-term performance enhancements without requiring any retraining or
recalibration of the system. Moreover, the framework oers control of both motion
and stiness simultaneously for intuitive and compliant human-robot interaction. The
framework is validated through a series of experiments characterizing motor learning
properties and demonstrating control capabilities not seen previously in the literature.
The results validate the approach as a viable option to remove the trade-o
between functionality and reliability that have hindered state-of-the-art myoelectric
interfaces. Thus, this research contributes to the expansion and enhancement of myoelectric
controlled applications beyond commonly perceived anthropomorphic and
\intuitive control" constraints and into more advanced robotic systems designed for
everyday tasks.
Humans desire compliant robots to safely interact in dynamic environments
associated with daily activities. As surface electromyography non-invasively measures
limb motion intent and correlates with joint stiness during co-contractions,
it has been identied as a candidate for naturally controlling such robots. However,
state-of-the-art myoelectric interfaces have struggled to achieve both enhanced
functionality and long-term reliability. As demands in myoelectric interfaces trend
toward simultaneous and proportional control of compliant robots, robust processing
of multi-muscle coordinations, or synergies, plays a larger role in the success of the
control scheme. This dissertation presents a framework enhancing the utility of myoelectric
interfaces by exploiting motor skill learning and
exible muscle synergies for
reliable long-term simultaneous and proportional control of multifunctional compliant
robots. The interface is learned as a new motor skill specic to the controller,
providing long-term performance enhancements without requiring any retraining or
recalibration of the system. Moreover, the framework oers control of both motion
and stiness simultaneously for intuitive and compliant human-robot interaction. The
framework is validated through a series of experiments characterizing motor learning
properties and demonstrating control capabilities not seen previously in the literature.
The results validate the approach as a viable option to remove the trade-o
between functionality and reliability that have hindered state-of-the-art myoelectric
interfaces. Thus, this research contributes to the expansion and enhancement of myoelectric
controlled applications beyond commonly perceived anthropomorphic and
\intuitive control" constraints and into more advanced robotic systems designed for
everyday tasks.
ContributorsIson, Mark (Author) / Artemiadis, Panagiotis (Thesis advisor) / Santello, Marco (Committee member) / Greger, Bradley (Committee member) / Berman, Spring (Committee member) / Sugar, Thomas (Committee member) / Fainekos, Georgios (Committee member) / Arizona State University (Publisher)
Created2015
Description
As the robotic industry becomes increasingly present in some of the more extreme environments such as the battle field, disaster sites or extraplanetary exploration, it will be necessary to provide locomotive niche strategies that are optimal to each terrain. The hopping gait has been well studied in robotics and proven to be a potential method to fit some of these niche areas. There have been some difficulties in producing terrain following controllers that maintain robust, steady state, which are disturbance resistant.
The following thesis will discuss a controller which has shown the ability to produce these desired properties. A phase angle oscillator controller is shown to work remarkably well, both in simulation and with a one degree of freedom robotic test stand.
Work was also done with an experimental quadruped with less successful results, but which did show potential for stability. Additional work is suggested for the quadruped.
The following thesis will discuss a controller which has shown the ability to produce these desired properties. A phase angle oscillator controller is shown to work remarkably well, both in simulation and with a one degree of freedom robotic test stand.
Work was also done with an experimental quadruped with less successful results, but which did show potential for stability. Additional work is suggested for the quadruped.
ContributorsNew, Philip Wesley (Author) / Sugar, Thomas G. (Thesis advisor) / Artemiadis, Panagiotis (Committee member) / Redkar, Sangram (Committee member) / Arizona State University (Publisher)
Created2015
Description
Dimensional Metrology is the branch of science that determines length, angular, and geometric relationships within manufactured parts and compares them with required tolerances. The measurements can be made using either manual methods or sampled coordinate metrology (Coordinate measuring machines). Manual measurement methods have been in practice for a long time and are well accepted in the industry, but are slow for the present day manufacturing. On the other hand CMMs are relatively fast, but these methods are not well established yet. The major problem that needs to be addressed is the type of feature fitting algorithm used for evaluating tolerances. In a CMM the use of different feature fitting algorithms on a feature gives different values, and there is no standard that describes the type of feature fitting algorithm to be used for a specific tolerance. Our research is focused on identifying the feature fitting algorithm that is best used for each type of tolerance. Each algorithm is identified as the one to best represent the interpretation of geometric control as defined by the ASME Y14.5 standard and on the manual methods used for the measurement of a specific tolerance type. Using these algorithms normative procedures for CMMs are proposed for verifying tolerances. The proposed normative procedures are implemented as software. Then the procedures are verified by comparing the results from software with that of manual measurements.
To aid this research a library of feature fitting algorithms is developed in parallel. The library consists of least squares, Chebyshev and one sided fits applied on the features of line, plane, circle and cylinder. The proposed normative procedures are useful for evaluating tolerances in CMMs. The results evaluated will be in accordance to the standard. The ambiguity in choosing the algorithms is prevented. The software developed can be used in quality control for inspection purposes.
To aid this research a library of feature fitting algorithms is developed in parallel. The library consists of least squares, Chebyshev and one sided fits applied on the features of line, plane, circle and cylinder. The proposed normative procedures are useful for evaluating tolerances in CMMs. The results evaluated will be in accordance to the standard. The ambiguity in choosing the algorithms is prevented. The software developed can be used in quality control for inspection purposes.
ContributorsVemulapalli, Prabath (Author) / Shah, Jami J. (Thesis advisor) / Davidson, Joseph K. (Committee member) / Takahashi, Timothy (Committee member) / Arizona State University (Publisher)
Created2014
Description
Wearable robots including exoskeletons, powered prosthetics, and powered orthotics must add energy to the person at an appropriate time to enhance, augment, or supplement human performance. Adding energy while not being in sync with the user can dramatically hurt performance making it necessary to have correct timing with the user. Many human tasks such as walking, running, and hopping are repeating or cyclic tasks and a robot can add energy in sync with the repeating pattern for assistance. A method has been developed to add energy at the appropriate time to the repeating limit cycle based on a phase oscillator. The phase oscillator eliminates time from the forcing function which is based purely on the motion of the user. This approach has been simulated, implemented and tested in a robotic backpack which facilitates carrying heavy loads. The device oscillates the load of the backpack, based on the motion of the user, in order to add energy at the correct time and thus reduce the amount of energy required for walking with a heavy load. Models were developed in Working Model 2-D, a dynamics simulation software, in conjunction with MATLAB to verify theory and test control methods. The control system developed is robust and has successfully operated on a range of different users, each with their own different and distinct gait. The results of experimental testing validated the corresponding models.
ContributorsWheeler, Chase (Author) / Sugar, Thomas G. (Thesis advisor) / Redkar, Sangram (Thesis advisor) / Artemiadis, Panagiotis (Committee member) / Arizona State University (Publisher)
Created2014
Description
This work presents the integration of user intent detection and control in the development of the fluid-driven, wearable, and continuum, Soft Poly-Limb (SPL). The SPL utilizes the numerous traits of soft robotics to enable a novel approach to provide safe and compliant mobile manipulation assistance to healthy and impaired users. This wearable system equips the user with an additional limb made of soft materials that can be controlled to produce complex three-dimensional motion in space, like its biological counterparts with hydrostatic muscles. Similar to the elephant trunk, the SPL is able to manipulate objects using various end effectors, such as suction adhesion or a soft grasper, and can also wrap its entire length around objects for manipulation. User control of the limb is demonstrated using multiple user intent detection modalities. Further, the performance of the SPL studied by testing its capability to interact safely and closely around a user through a spatial mobility test. Finally, the limb’s ability to assist the user is explored through multitasking scenarios and pick and place tests with varying mounting locations of the arm around the user’s body. The results of these assessments demonstrate the SPL’s ability to safely interact with the user while exhibiting promising performance in assisting the user with a wide variety of tasks, in both work and general living scenarios.
ContributorsVale, Nicholas Marshall (Author) / Polygerinos, Panagiotis (Thesis advisor) / Zhang, Wenlong (Committee member) / Artemiadis, Panagiotis (Committee member) / Arizona State University (Publisher)
Created2018