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Full-Text Articles in Engineering
Visual Cues For Semi-Autonomous Control Of Transradial Prosthetics, Mena S.A. Kamel
Visual Cues For Semi-Autonomous Control Of Transradial Prosthetics, Mena S.A. Kamel
Electronic Thesis and Dissertation Repository
Upper-limb prosthetics are typically driven exclusively by biological signals, mainly electromyography (EMG), where electrodes are placed on the residual part of an amputated limb. In this approach, amputees must control each arm joint iteratively, in a proportional manner. Research has shown that sequential control of prosthetics usually imposes a cognitive burden on amputees, leading to high abandonment rates. This thesis presents a control system for upper-limb prosthetics, leveraging a computer vision module capable of simultaneously predicting objects in a scene, their segmentation mask, and a ranked list of the optimal grasping locations. The proposed system shares control with an amputee, …
Human-Robot Collaboration Enabled By Real-Time Vision Tracking, Travis Deegan
Human-Robot Collaboration Enabled By Real-Time Vision Tracking, Travis Deegan
Electronic Theses and Dissertations
The number of robotic systems in the world is growing rapidly. However, most industrial robots are isolated in caged environments for the safety of users. There is an urgent need for human-in-the-loop collaborative robotic systems since robots are very good at performing precise and repetitive tasks but lack the cognitive ability and soft skills of humans. To fill this need, a key challenge is how to enable a robot to interpret its human co-worker’s motion and intention. This research addresses this challenge by developing a collaborative human-robot interface via innovations in computer vision, robotics, and system integration techniques. Specifically, this …