Guanyi Zhao
A human-robot collaboration method for uncertain surface scanning
Zhao, Guanyi; Zeng, Chao; Si, Weiyong; Yang, Chenguang
Abstract
Robots are increasingly expected to replace humans in many repetitive and high-precision tasks, of which surface scanning is a typical example. However, it is usually difficult for a robot to independently deal with a surface scanning task with uncertainties in, for example the irregular surface shapes and surface properties. Moreover, it usually requires surface modelling with additional sensors, which might be time-consuming and costly. A human-robot collaboration-based approach that allows a human user and a robot to assist each other in scanning uncertain surfaces with uniform properties, such as scanning human skin in ultrasound examination is proposed. In this approach, teleoperation is used to obtain the operator's intent while allowing the operator to operate remotely. After external force perception and friction estimation, the orientation of the robot end-effector can be autonomously adjusted to keep as perpendicular to the surface as possible. Force control enables the robotic manipulator to maintain a constant contact force with the surface. And hybrid force/motion control ensures that force, position, and pose can be regulated without interfering with each other while reducing the operator's workload. The proposed method is validated using the Elite robot to perform a mock B-ultrasound scanning experiment.
Journal Article Type | Article |
---|---|
Acceptance Date | Apr 5, 2023 |
Online Publication Date | May 16, 2023 |
Deposit Date | May 23, 2023 |
Publicly Available Date | May 23, 2023 |
Journal | CAAI Transactions on Intelligence Technology |
Print ISSN | 2468-2322 |
Electronic ISSN | 2468-2322 |
Publisher | Wiley Open Access |
Peer Reviewed | Peer Reviewed |
DOI | https://doi.org/10.1049/cit2.12227 |
Keywords | medical applications, robotics |
Public URL | https://uwe-repository.worktribe.com/output/10800760 |
Publisher URL | https://ietresearch.onlinelibrary.wiley.com/doi/10.1049/cit2.12227 |
Files
A humanârobot collaboration method for uncertain surface scanning
(1.9 Mb)
PDF
Licence
http://creativecommons.org/licenses/by/4.0/
Publisher Licence URL
http://creativecommons.org/licenses/by/4.0/
You might also like
A novel human-robot skill transfer method for contact-rich manipulation task
(2023)
Journal Article
Impedance learning for human-guided robots in contact with unknown environments
(2023)
Journal Article
Head-raising of snake robots based on a predefined spiral curve method
(2018)
Journal Article
Downloadable Citations
About UWE Bristol Research Repository
Administrator e-mail: repository@uwe.ac.uk
This application uses the following open-source libraries:
SheetJS Community Edition
Apache License Version 2.0 (http://www.apache.org/licenses/)
PDF.js
Apache License Version 2.0 (http://www.apache.org/licenses/)
Font Awesome
SIL OFL 1.1 (http://scripts.sil.org/OFL)
MIT License (http://opensource.org/licenses/mit-license.html)
CC BY 3.0 ( http://creativecommons.org/licenses/by/3.0/)
Powered by Worktribe © 2025
Advanced Search