Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

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Session WedFVT2 Fenix 2 Wednesday, October 10, 2012, 16:15–17:30 Telerobotics & Brain-Machine Interfaces Chair Susumu Tachi, Keio Univ. Co-Chair 16:15–16:30 WedFVT2.1 A Collaborative Control System for Telepresence Robots Douglas G. Macharet VeRLab, DCC, UFMG, Brazil Dinei Florêncio Microsoft Research, USA • A potential field based framework to facilitate the control of telepresence robots • Adjustable level of autonomy of the robot, giving it full control on mid-range navigation • Users had significantly fewer hits (none in most cases) and took less time to complete a given task • Most of the users agreed with the possible directions pointed out by the methodology 16:45–17:00 WedFVT2.3 Armrest Joystick -Mechanism Design and Basic Experiments- Hiroaki Ishida Tetsuo Hagiwara Koji Ueda and Shigeo Hirose Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Japan • We propose a robot arm’s controller, “Armrest Joystick,” with high portability and operability. • The Armrest Joystick can operate 3DOF position, 3DOF posture and a gripper with force feedback. • We study a design of the Armrest Joystick in this paper. • We conducted some experiments to verify operability. Armrest Joystick 17:15–17:20 WedFVT2.5 Towards Robotic Re-Embodiment using a Brain-and-Body-Computer Interface Nikolas Martens, Robert Jenke, Mohammad Abu-Alqumsan, Angelika Peer, and Martin Buss Institute of Automatic Control Engineering, TUM, Germany Christoph Kapeller, Christoph Hintermüller, Christoph Guger Guger Technologies, Austria • 3 basic scenarios of a BBCI controlled robot avatar: pick&place, door-opening, and social interaction • Development of task-adapted interfaces for P300 and SSVEP paradigms • High-level intentions determine what the robot should execute • Low-level intentions describe how those commands are executed Task-adapted BCI for (a) pickand-place and (b) door-opening 16:30–16:45 WedFVT2.2 Design of TELESAR V for Transferring Bodily Consciousness in Telexistence Charith Lasantha Fernando, Masahiro Furukawa, Tadatoshi Kurogi, Sho Kamuro, Katsunari Sato, Kouta Minamizawa and Susumu Tachi Graduate School of Media Design, Keio University. Japan • A 52 DOF robot for performing telexistence operations. • Un-grounded Master cockpit. • Independent Spinal, Head, Arm, Hand movements • Wide Angle HD Head Mounted Display. • Fingertip Force (Shearing, Vertical) Sensation • Fingertip Thermal Sensation • Extend the bodily border up to robot 17:00–17:15 WedFVT2.4 Networked Teleoperation with Non-Passive Environment: Application to Tele-Rehabilitation S. Farokh Atashzar, Ilia G. Polushin Dept. of Electrical and Computer Eng., University of Western Ontario, Canada Rajni V. Patel Dept. Electrical and Computer Engineering and Dept. of Surgery , University of Western Ontario , Canada • The problem of design of a master-slave tele-rehabilitation system for assistive/resistive therapy is addressed. • During assistive therapy, the therapist supplies the power to the teleoperator system thus behaving as an active (nonpassive) network. • Dissipation of the power generated by the therapist would defeat the purpose of the assistive therapy. • A small-gain approach is designed to analyze/maintain the stability in both assistive and resistive mode. Top: Velocity of the patient’s hand vs. therapist’s hand Bottom: Energy generated by the therapist 17:20–17:25 WedFVT2.6 Rock-Paper-Scissors Prediction Experiments using Muscle Activations Giho Jang and Youngjin Choi* Electronic Systems Engineering, Hanyang University, South Korea Zhihua Qu EECS, University of Central Florida, USA • Initial experimental results for hand posture prediciton are presented in the video. • Property: initial burst part of muscle activation (EMG) is prior to the oneset of acutal movement by dozens to hundreds milliseconds. • Using this property, the proposed method makes the ternary choice prediction among rock-paper- scissors as soon as 10% motion variation of any finger is detected. • It is shown experimentally that the success rate of the proposed prediction method is over 95%. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems –180–
Session WedFVT2 Fenix 2 Wednesday, October 10, 2012, 16:15–17:30 Telerobotics & Brain-Machine Interfaces Chair Susumu Tachi, Keio Univ. Co-Chair 17:25–17:30 WedFVT2.7 RobChair: Experiments Evaluating Brain- Computer Interface to Steer a Semi-autonomous Wheelchair Ana C. Lopes, Gabriel Pires and Urbano Nunes Institute for Systems and Robotics University of Coimbra, Portugal • Experiments with a semi-autonomous wheelchair controlled by means of a Brain-Computer Interface (BCI); • Assistive navigation system based on a collaborative controller; • User intents are decoded from electroencephalographic signals evoked by a visual P300-based paradigm; • Experiments carried out with 10 ablebodied participants and a cerebral palsy participant with motor disabilities showed the effectiveness of the proposed approaches. Snapshot taken during an experiment with a participant with motor disabilities 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems –181–
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Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

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