User Experience Enchanced Interface ad Controller Design for Human-Robot Interaction

Chen, Junshen

doi:10.23889/Suthesis.52455

E-Thesis 658 views 713 downloads

User Experience Enchanced Interface ad Controller Design for Human-Robot Interaction / Junshen Chen

Swansea University Author: Junshen Chen

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DOI (Published version): 10.23889/Suthesis.52455

Abstract

The robotic technologies have been well developed recently in various ﬁelds, such as medical services, industrial manufacture and aerospace. Despite their rapid development, how to deal with the uncertain envi-ronment during human-robot interactions eﬀectively still remains un-resolved. The current...

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Published:	Swansea 2019
Institution:	Swansea University
Degree level:	Doctoral
Degree name:	Ph.D
URI:	https://cronfa.swan.ac.uk/Record/cronfa52455
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first_indexed	2019-10-15T20:24:09Z
last_indexed	2023-01-11T14:29:36Z
id	cronfa52455
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Thus, teleoperation, which means remotely controlling a robot by a human op-erator, is indispensable in many scenarios. It is an important and useful tool in research ﬁelds. This thesis focuses on the study of designing a user experience (UX) enhanced robot controller, and human-robot in-teraction interfaces that try providing human operators an immersion perception of teleoperation. Several works have been done to achieve the goal.First, to control a telerobot smoothly, a customised variable gain con-trol method is proposed where the stiﬀness of the telerobot varies with the muscle activation level extracted from signals collected by the surface electromyograph(sEMG) devices. Second, two main works are conducted to improve the user-friendliness of the interaction interfaces. One is that force feedback is incorporated into the framework providing operators with haptic feedback to remotely manipulate target objects. Given the high cost of force sensor, in this part of work, a haptic force estimation algorithm is proposed where force sensor is no longer needed. The other main work is developing a visual servo control system, where a stereo camera is mounted on the head of a dual arm robots oﬀering operators real-time working situations. In order to compensate the internal and ex-ternal uncertainties and accurately track the stereo camera’s view angles along planned trajectories, a deterministic learning techniques is utilised, which enables reusing the learnt knowledge before current dynamics changes and thus features increasing the learning eﬃciency. Third, in-stead of sending commands to the telerobts by joy-sticks, keyboards or demonstrations, the telerobts are controlled directly by the upper limb motion of the human operator in this thesis. Algorithm that utilised the motion signals from inertial measurement unit (IMU) sensor to captures humans’ upper limb motion is designed. The skeleton of the operator is detected by Kinect V2 and then transformed and mapped into the joint positions of the controlled robot arm. In this way, the upper limb mo-tion signals from the operator is able to act as reference trajectories to the telerobts. A more superior neural networks (NN) based trajectory controller is also designed to track the generated reference trajectory. Fourth, to further enhance the human immersion perception of teleop-eration, the virtual reality (VR) technique is incorporated such that the operator can make interaction and adjustment of robots easier and more accurate from a robot’s perspective.Comparative experiments have been performed to demonstrate the eﬀectiveness of the proposed design scheme. 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spelling	2022-12-18T09:50:20.9223638 v2 52455 2019-10-15 User Experience Enchanced Interface ad Controller Design for Human-Robot Interaction 68261945e3976dfebf1a1d9941b291c5 NULL Junshen Chen Junshen Chen true true 2019-10-15 The robotic technologies have been well developed recently in various ﬁelds, such as medical services, industrial manufacture and aerospace. Despite their rapid development, how to deal with the uncertain envi-ronment during human-robot interactions eﬀectively still remains un-resolved. The current artiﬁcial intelligence (AI) technology does not support robots to fulﬁl complex tasks without human’s guidance. Thus, teleoperation, which means remotely controlling a robot by a human op-erator, is indispensable in many scenarios. It is an important and useful tool in research ﬁelds. This thesis focuses on the study of designing a user experience (UX) enhanced robot controller, and human-robot in-teraction interfaces that try providing human operators an immersion perception of teleoperation. Several works have been done to achieve the goal.First, to control a telerobot smoothly, a customised variable gain con-trol method is proposed where the stiﬀness of the telerobot varies with the muscle activation level extracted from signals collected by the surface electromyograph(sEMG) devices. Second, two main works are conducted to improve the user-friendliness of the interaction interfaces. One is that force feedback is incorporated into the framework providing operators with haptic feedback to remotely manipulate target objects. Given the high cost of force sensor, in this part of work, a haptic force estimation algorithm is proposed where force sensor is no longer needed. The other main work is developing a visual servo control system, where a stereo camera is mounted on the head of a dual arm robots oﬀering operators real-time working situations. In order to compensate the internal and ex-ternal uncertainties and accurately track the stereo camera’s view angles along planned trajectories, a deterministic learning techniques is utilised, which enables reusing the learnt knowledge before current dynamics changes and thus features increasing the learning eﬃciency. Third, in-stead of sending commands to the telerobts by joy-sticks, keyboards or demonstrations, the telerobts are controlled directly by the upper limb motion of the human operator in this thesis. Algorithm that utilised the motion signals from inertial measurement unit (IMU) sensor to captures humans’ upper limb motion is designed. The skeleton of the operator is detected by Kinect V2 and then transformed and mapped into the joint positions of the controlled robot arm. In this way, the upper limb mo-tion signals from the operator is able to act as reference trajectories to the telerobts. A more superior neural networks (NN) based trajectory controller is also designed to track the generated reference trajectory. Fourth, to further enhance the human immersion perception of teleop-eration, the virtual reality (VR) technique is incorporated such that the operator can make interaction and adjustment of robots easier and more accurate from a robot’s perspective.Comparative experiments have been performed to demonstrate the eﬀectiveness of the proposed design scheme. Tests with human subjects were also carried out for evaluating the interface design. E-Thesis Swansea Teleoperation, HRI, User Experience 31 12 2019 2019-12-31 10.23889/Suthesis.52455 COLLEGE NANME College of Engineering COLLEGE CODE Swansea University Doctoral Ph.D 2022-12-18T09:50:20.9223638 2019-10-15T16:54:20.2347559 Faculty of Science and Engineering School of Engineering and Applied Sciences - Uncategorised Junshen Chen NULL 1 0052455-15102019165711.pdf Junshen_Chen_PhD_Thesis_Final.pdf 2019-10-15T16:57:11.1530000 Output 16677603 application/pdf E-Thesis – open access true 2019-10-14T00:00:00.0000000 true
title	User Experience Enchanced Interface ad Controller Design for Human-Robot Interaction
spellingShingle	User Experience Enchanced Interface ad Controller Design for Human-Robot Interaction Junshen Chen
title_short	User Experience Enchanced Interface ad Controller Design for Human-Robot Interaction
title_full	User Experience Enchanced Interface ad Controller Design for Human-Robot Interaction
title_fullStr	User Experience Enchanced Interface ad Controller Design for Human-Robot Interaction
title_full_unstemmed	User Experience Enchanced Interface ad Controller Design for Human-Robot Interaction
title_sort	User Experience Enchanced Interface ad Controller Design for Human-Robot Interaction
author_id_str_mv	68261945e3976dfebf1a1d9941b291c5
author_id_fullname_str_mv	68261945e3976dfebf1a1d9941b291c5_***_Junshen Chen
author	Junshen Chen
author2	Junshen Chen
format	E-Thesis
publishDate	2019
institution	Swansea University
doi_str_mv	10.23889/Suthesis.52455
college_str	Faculty of Science and Engineering
hierarchytype
hierarchy_top_id	facultyofscienceandengineering
hierarchy_top_title	Faculty of Science and Engineering
hierarchy_parent_id	facultyofscienceandengineering
hierarchy_parent_title	Faculty of Science and Engineering
department_str	School of Engineering and Applied Sciences - Uncategorised{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Engineering and Applied Sciences - Uncategorised
document_store_str	1
active_str	0
description	The robotic technologies have been well developed recently in various ﬁelds, such as medical services, industrial manufacture and aerospace. Despite their rapid development, how to deal with the uncertain envi-ronment during human-robot interactions eﬀectively still remains un-resolved. The current artiﬁcial intelligence (AI) technology does not support robots to fulﬁl complex tasks without human’s guidance. Thus, teleoperation, which means remotely controlling a robot by a human op-erator, is indispensable in many scenarios. It is an important and useful tool in research ﬁelds. This thesis focuses on the study of designing a user experience (UX) enhanced robot controller, and human-robot in-teraction interfaces that try providing human operators an immersion perception of teleoperation. Several works have been done to achieve the goal.First, to control a telerobot smoothly, a customised variable gain con-trol method is proposed where the stiﬀness of the telerobot varies with the muscle activation level extracted from signals collected by the surface electromyograph(sEMG) devices. Second, two main works are conducted to improve the user-friendliness of the interaction interfaces. One is that force feedback is incorporated into the framework providing operators with haptic feedback to remotely manipulate target objects. Given the high cost of force sensor, in this part of work, a haptic force estimation algorithm is proposed where force sensor is no longer needed. The other main work is developing a visual servo control system, where a stereo camera is mounted on the head of a dual arm robots oﬀering operators real-time working situations. In order to compensate the internal and ex-ternal uncertainties and accurately track the stereo camera’s view angles along planned trajectories, a deterministic learning techniques is utilised, which enables reusing the learnt knowledge before current dynamics changes and thus features increasing the learning eﬃciency. Third, in-stead of sending commands to the telerobts by joy-sticks, keyboards or demonstrations, the telerobts are controlled directly by the upper limb motion of the human operator in this thesis. Algorithm that utilised the motion signals from inertial measurement unit (IMU) sensor to captures humans’ upper limb motion is designed. The skeleton of the operator is detected by Kinect V2 and then transformed and mapped into the joint positions of the controlled robot arm. In this way, the upper limb mo-tion signals from the operator is able to act as reference trajectories to the telerobts. A more superior neural networks (NN) based trajectory controller is also designed to track the generated reference trajectory. Fourth, to further enhance the human immersion perception of teleop-eration, the virtual reality (VR) technique is incorporated such that the operator can make interaction and adjustment of robots easier and more accurate from a robot’s perspective.Comparative experiments have been performed to demonstrate the eﬀectiveness of the proposed design scheme. Tests with human subjects were also carried out for evaluating the interface design.
published_date	2019-12-31T04:04:50Z
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score	10.998138

User Experience Enchanced Interface ad Controller Design for Human-Robot Interaction / Junshen Chen

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