Authors: Mitch McEntire
Mentors: Marc Killpack, John Salmon
Insitution: Brigham Young University
Title: Rotational Robotic Trigger
Presenter: Mitch McEntire, College of Engineering, Mechanical Engineering
Authors: Mitch McEntire
Faculty Advisor: Marc Killpack and John Salmon
Institution: Brigham Young University
Robotic manipulation is commonplace on the factory floor but there are often safeguards that prevent direct human-robot interaction. This study aimed to move human-robot interaction into the next phase from separate tasks, to cooperative ones. We started by trying to understand how multiple human teammates communicate during co-manipulation tasks in order to enable humans and robots to eventually work together effectively. This study analyzed the communication forces sent through an object that was being co-manipulated by a triad and dyad of humans. For this presentation, we focused entirely on the task of rotation along the sagittal axis shared between the individuals. In this case, we are able to notice a torque that was transmitted through the object indicating the desired change in orientation of that object. Each trial consisted of carrying a 55 lb table between two individuals and placing the table in different orientations and positions. Data was collected with force-torque sensors at each handle of the table and position data of the table was being tracked by HTC Vive trackers designed for use in virtual reality systems and that were strategically placed around the table. We analyzed 23 of these trials and we were able to identify specific force trends that indicate the table is about to rotate. Once data was collected and analyzed, potential force triggers were extracted from the data. This data is one small step to understanding how humans manipulation teams work together successfully and enabling a robot to be able to cooperate with humans in applications such as carrying a stretcher or moving furniture.