A Sensor Glove for the Interaction with a Nursing-Care Assistive Robot

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Description

A Sensor Glove for the Interaction with a Nursing-Care Assistive Robot

Objective: 

                      In this paper, we aim to implement a robotic system for assisting elderly and disabled people.


A Sensor Glove for the Interaction with a Nursing-Care Assistive Robot

Abstract:

                     Assistive and rehabilitation devices are a promising and challenging field of recent robotics research. Motivated by societal needs such as aging populations, such devices can support motor functionality and subject training. The design, control, sensing, and assessment of the devices become more sophisticated due to a human in the loop. This paper gives a human-robot interaction perspective on current issues and opportunities in the field. On the topic of control and machine learning, approaches that support but do not distract subjects are reviewed. Options to provide sensory user feedback that is currently missing from robotic devices are outlined. Parallels between device acceptance and affective computing are made. Furthermore, requirements for functional assessment protocols that relate to real-world tasks are discussed. In all topic areas, the design of human-oriented frameworks and methods is dominated by challenges related to the close interaction between human and robotic devices. This paper discusses the aforementioned aspects in order to open up new perspectives for future robotic solutions.

In this paper, a sensor glove that is employed for human-robot interaction in an assistive robotic system is designed, produced, and evaluated. The sensor glove is based on flex sensors which are utilized to detect the user’s finger gestures and an inertial measurement unit (IMU) which is used to detect arm movements of the user and other off-the-shelf electronic components.


Existing systems:

  • human assistance 
  • remote-controlled robot

Proposed system:

  • in this system, a hand glove is used for controlling the robot 
  • the robot is designed to assist people
  • glove consists of flux sensors for detecting the motion of the hand
  • this message is converted as a control command for the robot 

Block diagram:

 Hand Glove:

A Sensor Glove for the Interaction with a Nursing Care Assistive Robot
A Sensor Glove for the Interaction with a Nursing Care Assistive Robot

Robot node:

A Sensor Glove for the Interaction with a Nursing Care Assistive Robot 2
A Sensor Glove for the Interaction with a Nursing Care Assistive Robot

Block diagram description:

  • This system consists of a two-part glove and a robot
  • The robot is a mobile manipulator and the glove is embedded with all the sensors needed
  • The glove part consists of an Arduino Uno
  • The robot consists of a rover and a manipulator’s arm
  • The robot is controlled using Arduino Uno
  • A Bluetooth module is used for interconnecting both nodes

Hardware requirement:

  • Arduino Uno
  • Flux sensor
  • Mems sensor
  • Bluetooth module
  • Dc motor
  • Servo motor

Software requirement:

  • Arduino IDE 
  • Programming: embedded C 

REFERENCES

                        [1] World Health Organization, “Multisectoral action for a life course approach to healthy aging: Draft global strategy and plan of action on aging and health,” 69th World Health Assembly, provisional agenda item 13.4, April 2016

                       [2] E. Choi, S. Kwon, D. Lee, H. Lee, M. K. Chung, “Can user-derived gesture be considered as the best gesture for a command?: Focusing on the commands for a smart home system,” Proc. Hum. Factors Ergon. Soc. Annu. Meet., vol 56, pp. 1253–1257, 2012.

                      [3] L. Corchia, E. D. Benedetto, G. Monti, and A. Cataldo, “Wearable antennas for applications in remote assistance to elderly people,” Processings of the IEEE Int. Workshop on Measurement and Networking, Naples, Italy, pp. 1–6, 27–29 September 2017.

                       [4] G. Yang, H. Lv, F. Chen, Z. Pang, J. Wang, H. Yang, and J. Zhang, “A novel gesture recognition system for intelligent interaction with a nursing-care assistant robot,” Appl. Sci., vol.8, 2018

                      [5] H. Liu, L. Wang, “Gesture recognition for human-robot collaboration: A review,” Int. J. Ind. Ergon., 2017.

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