tive aspects of human robot interaction. In particular, the research addresses the effects of the ambient environment on human perception capabilities, human decision making mechanisms, personnel attitude toward robots especially when working in robot proximity. Driven by the need for an integrated approach to these diverse issues, my work has been MISSION SPECIALIST HUMAN-ROBOT INTERACTION IN MICRO UNMANNED AERIAL SYSTEMS A Dissertation by JOSHUA MICHAEL PESCHEL Submitted to the Office of Graduate Studies of Texas A&M University in partial fulfillment of the requirements for the degree of DOCTOR OF PHILOSOPHY August Major Subject: Computer Science of human-robot interaction. The limitations in perceptual, cognitive and behavioral abilities of robots will lead to significant imbalance between the human and the robot in terms of social interaction process (Breazeal, ). In addition to pursuing a single engineering solution, many researchers try to provide solutions from a designAuthor: Yuan Sun
"Adaptive physical human-robot interaction (PHRI) with a robotic nursin" by Sumit Kumar Das
Adaptive physical human-robot interaction PHRI with a robotic nursing assistant. Sumit Kumar DasUniversity of Louisville Follow. Human-robot interaction; nursing assistant robot; base sensor control; neuroadaptive controller; sensor simulation; technology acceptance model. Recently, more and more robots are being investigated for future applications in health-care. For instance, in nursing assistance, seamless Human-Robot Interaction HRI is very important for sharing workspaces and workloads between medical staff, patients, and robots.
In this thesis we introduce a novel robot - the Adaptive Robot Nursing Assistant ARNA and its underlying components. ARNA has been designed specifically to assist nurses with day-to-day tasks such as walking patients, pick-and-place item retrieval, and routine patient health monitoring. An adaptive HRI in nursing applications creates a positive user experience, increase nurse productivity and task completion rates, as reported by experimentation with human subjects.
ARNA has been designed to include interface devices such as tablets, force sensors, pressure-sensitive robot skins, LIDAR and RGBD camera. These interfaces are combined with adaptive controllers and human robot interaction phd thesis within a proposed framework that contains multiple innovations. A research study was conducted on methods of deploying an ideal HumanMachine Interface HMIin this case a tablet-based interface.
Initial study points to the fact that a traded control level of autonomy is ideal for tele-operating ARNA by a patient. The proposed method of using the HMI devices makes the performance of a robot similar for both skilled and un-skilled workers. A neuro-adaptive controller NACwhich contains several neural-networks to estimate and compensate for system non-linearities, human robot interaction phd thesis, was implemented on the ARNA robot.
By linearizing the system, a cross-over usability condition is met through which humans find it more intuitive to learn to use the robot in any location of its workspace, A novel Base-Sensor Assisted Physical Interaction BAPI controller is introduced in this thesis, which utilizes a force-torque sensor at the base of the ARNA robot manipulator to detect full body collisions, and make interaction safer.
Finally, a human-intent estimator HIE is proposed to estimate human intent while the robot and user are physically collaborating during certain tasks such as adaptive walking. A NAC with HIE module was validated on a PR2 human robot interaction phd thesis through user studies.
Its implementation on the ARNA robot platform can be easily accomplished as the controller is model-free and can learn robot dynamics online. A human robot interaction phd thesis framework, Directive Observer and Lead Assistant DOLAis proposed for ARNA which enables the user to interact with the robot in two modes: physically, by direct push-guiding, and remotely, through a tablet interface.
If the user has trouble completing the given tasks, the robot adapts their repertoire to lead users toward completing goals. The proposed framework incorporates interface devices as well as adaptive control systems in order to facilitate a higher performance interaction between the user and the robot than human robot interaction phd thesis previously possible. The ARNA robot was deployed and tested in a hospital environment at the School of Nursing of the University of Louisville.
The user-experience tests were conducted with the help of healthcare professionals where several metrics including completion time, rate and level of user satisfaction were collected to shed light on the performance of various components of the proposed framework.
The results indicate an overall positive response towards the use of such assistive robot in the healthcare environment. The analysis of these gathered data is included in this document. To summarize, this research study makes the following contributions: Conducting user experience studies with the ARNA robot in patient sitter and walker scenarios to evaluate both physical and non-physical human-machine interfaces. Evaluation and Validation of Human Intent Estimator HIE and Neuro-Adaptive Controller NAC.
Proposing the novel Base-Sensor Assisted Physical Interaction BAPI controller, human robot interaction phd thesis. Building simulation models for packaged tactile sensors and validating the models with experimental data. Description of Directive Observer and Lead Assistance DOLA framework for ARNA using adaptive interfaces. Das, Sumit Kumar, "Adaptive physical human robot interaction phd thesis interaction PHRI with a robotic nursing assistant.
Electronic Theses and Dissertations. Paper Controls and Control Theory Commons, human robot interaction phd thesis. Advanced Search. Home About FAQ My Account Accessibility Statement. Privacy Copyright. Skip to main content. ThinkIR: The University of Louisville's Institutional Repository, human robot interaction phd thesis. My Account FAQ About Home. Title Adaptive physical human-robot interaction PHRI with a robotic nursing assistant.
Author Sumit Kumar DasUniversity of Louisville Follow. Department Electrical and Computer Engineering. Committee Co-Chair if applicable Logsdon, M Cyinthia. Author's Keywords Human-robot interaction; nursing assistant robot; base sensor control; neuroadaptive controller; sensor simulation; technology acceptance model.
Abstract Recently, more and more robots are being investigated for future applications in health-care.
Recommended Citation Das, Sumit Kumar, "Adaptive physical human-robot interaction PHRI with a robotic nursing assistant. DOWNLOADS Since September 26, Included in Controls and Control Theory Commons.
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Introduction to Human-Robot Interaction
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MISSION SPECIALIST HUMAN-ROBOT INTERACTION IN MICRO UNMANNED AERIAL SYSTEMS A Dissertation by JOSHUA MICHAEL PESCHEL Submitted to the Office of Graduate Studies of Texas A&M University in partial fulfillment of the requirements for the degree of DOCTOR OF PHILOSOPHY August Major Subject: Computer Science of human-robot interaction. The limitations in perceptual, cognitive and behavioral abilities of robots will lead to significant imbalance between the human and the robot in terms of social interaction process (Breazeal, ). In addition to pursuing a single engineering solution, many researchers try to provide solutions from a designAuthor: Yuan Sun tive aspects of human robot interaction. In particular, the research addresses the effects of the ambient environment on human perception capabilities, human decision making mechanisms, personnel attitude toward robots especially when working in robot proximity. Driven by the need for an integrated approach to these diverse issues, my work has been
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