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Page Turning Using Assistive Robot with Low-Degree-of-Freedom Hand
Hidetoshi Ikeda1, Yuta Mizukami2, Masahiro Sakamoto2
1Faculty and Department of Engineering (Mechanical and System Engineering Field, Advanced Manufacturing Robotics and System Control Course), Niigata Institute of Technology, Kashiwazaki City 945-1103, Japan.
Sensors (Basel, Switzerland)
|October 16, 2024
Summary
This study introduces a robotic hand with adaptable planar fingers for page-turning. The assistive robot strategy effectively turns pages, with a control system managing excessive force for improved reliability.
Area of Science:
- Robotics
- Human-Robot Interaction
- Assistive Technology
Background:
- Traditional robotic hands often require complex designs with numerous joints and fingers.
- Mimicking human object handling can simplify robotic manipulation.
- Developing efficient page-turning mechanisms is crucial for assistive robots.
Purpose of the Study:
- To propose and evaluate a page-turning strategy for an assistive robot.
- To design a low-degree-of-freedom robotic hand inspired by human object handling.
- To investigate the effectiveness of a shape-changing planar finger mechanism for page manipulation.
Main Methods:
- A low-degree-of-freedom robotic hand with transformable planar fingers was designed.
- A page-turning strategy involving pushing and rotating the page surface was developed.
- A sensor system and control strategy were implemented to detect and manage excessive force.
- Experiments were conducted to test the robotic hand's page-turning capabilities.
Main Results:
- The robotic hand successfully turned pages using the proposed strategy.
- Page-turning failures occurred when the robotic hand was positioned too low, causing finger obstruction.
- The control system effectively adapted finger shape and released force upon detecting excessive resistance.
- Experimental results demonstrated the control system's effectiveness in handling force variations.
Conclusions:
- The proposed page-turning strategy and robotic hand design are effective for assistive applications.
- The adaptive control system enhances the robustness of page-turning by managing force feedback.
- Further refinement is needed to address limitations related to robotic hand positioning and potential obstructions.
