DEVELOPING UPPER LIMBS FOR SOCIAL

HUMANOID ROBOT NADINE

Presenter: Anoop Kumar Sinha Supervisors: Assoc. Prof. CaiYiyu (MAE)

PhD Student (BTC) Prof. Nadia Magnenat-Thalmann (Director, IMI)

(2018-2022)

OUTLINE

Introduction………………………………… 3-7

Summary of Reviewed Robotic Arms……… 8-13

Smart Materials for Soft Robotic Arms…….14-22

Design Models Underdevelopment at IMI…23-41

Conclusion…………………………………42

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INTRODUCTION

Human Arm Anatomy

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Degree of Freedom (DOF)

Range of Motion (ROM)

Actuators:

Antagonistic Muscles Size: Golden Ratio

Sensing Capabilities

INTRODUCTION: DEGREES OF FREEDOM

[1] MOON, HYOSANG, ET AL. "EXPERIMENTAL OBSERVATION ON HUMAN REACHING MOTION PLANNING WITH AND WITHOUT A REDUCED MOBILITY." ROBOT

KINEMATICS AND MOTION PLANNING: 1-53.

[2] HTTPS://BONEANDSPINE.COM/DEGREES-OF-FREEDOM-OF-UPPER-LIMB/

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Shoulder: 3 DOF

Elbow: 1 DOF

Wrist : 3 DOF

Fig. 1 : 7 DOF of Human Arm [1] Fig. 2 : 27 DOF of Human Hand [2]

INTRODUCTION: RANGE OF MOTION

[3] JOINT RANGE OF MOTION, HAMILTON N, WEIMAR W, LUTTGENS K. KINESIOLOGY: SCIENTIFIC BASIS OF HUMAN MOTION, 12E; 2011. AVAILABLE AT:

HTTPS://ACCESSPHYSIOTHERAPY.MHMEDICAL.COM/CONTENT.ASPX?BOOKID=965&SECTIONID=53599866 ACCESSED: NOVEMBER 11, 2018

COPYRIGHT © 2018 MCGRAW-HILL EDUCATION. ALL RIGHTS RESERVED530/11/2018

Abduction:

(-50) – (+180)

Flexion:

(-50) – (+180)

Horizontal

Abduction:

(-50) – (+130)

Flexion:

(0) – (140)

Pronation/Supination:

(0) – (80)

Flexion/Extension:

(0) – (60)

Ulnar & Radial:

(0) – (30)

& (0) – (20)

INTRODUCTION: ACTUATORS- ANTAGONISTIC MUSCLE

ACTION

[4] HTTPS://WWW.YOUTUBE.COM/WATCH?V=ZODABPGRG7Q&T=66S630/11/2018

Fig. 4 : All Muscles Work in Pair [4]

Agonist : Extensor --------opens the Joint

Generates Specific Movement

Antagonist: Flexor --------undergoes contraction

• All muscles work in pair to move bones.

• The bones are connected to muscles via tendons.

Contracting

Relaxing

INTRODUCTION: FIBONACCI SERIES (GOLDEN RATIO)

[5] GARLAND TK. CHARITY, MATH AND MUSIC—HARMONIOUS CONNECTIONS. WHITE PLAINS, NY: DALE SEYMORE PUBLICATIONS; 1995.

[6] BASHOUR M. AN OBJECTIVE SYSTEM FOR MEASURING FACIAL ATTRACTIVENESS. PLAST RECONSTR SURG. 2006;118(3):757–74. DISCUSSION 775-6.

[7] BASHOUR M. HISTORY AND CURRENT CONCEPTS IN THE ANALYSIS OF FACIAL ATTRACTIVENESS. PLAST RECONSTR SURG. 2006;118(3):741–56.

[8] RICKETTS RM. DIVINE PROPORTION IN FACIAL ESTHETICS. CLIN PLAST SURG. 1982;9(4):401–22.

[9] SEGHERS MJ, LONGACRE JJ, DESTEFANO GA. THE GOLDEN PROPORTION AND BEAUTY. PLAST RECONSTR SURG. 1964;34(4):382–6.

[10] TUCKER VA. THE DEEP FOVEA, SIDEWAYS VISION AND SPIRAL FLIGHT PATHS IN RAPTORS. J EXP BIOL. 2000;203(PT 24):3745–54.

[11] BASHOUR M. HISTORY AND CURRENT CONCEPTS IN THE ANALYSIS OF FACIAL ATTRACTIVENESS. PLAST RECONSTR SURG. 2006;118(3):741–56.

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The Fibonacci series has proven useful in the modelling of biological and

financial systems as well as in electronics and music. [5]

The ratio Φ:1 has been known since antiquity as Golden Ratio [6]

It is also evident in the shape of galaxies, the attack path of a

hawk, and in the growth pattern of the mandible [8,10]

Fig. 5 (a) Golden Ratio on human face [6,7,8,9]

(b) Functional lengths of the phalanges

as determined by Hamilton 2002 [11]

(a) (b)

SUMMARY OF REVIEWED ROBOTIC ARMS : ICUB ARM

Inventors: Alberto ParmiggianI et. al, Istituto Italiano di Tecnologia (IIT) Italy [12]

2011

Features:

Shoulder Joint: Pitch: -95 +10 deg. (ROM),

Roll: 0 +160 Yaw: -37 +80

Elbow Joint: exion/extension +5 +105

Wrist Joint: exion/extension -90 +90

abduction/adduction -90 +90

The hand of the iCub has 19 joints but is driven by only

9 motors.

30/11/2018[12] PARMIGGIANI, ALBERTO, ET AL. "THE DESIGN OF THE ICUB HUMANOID ROBOT." INTERNATIONAL JOURNAL OF HUMANOID

ROBOTICS 9.04 (2012): 1250027. 8

SUMMARY OF REVIEWED ROBOTIC ARMS : MEKA ROBOTICS H2

COMPLIANT HAND AND A2 COMPLIANT MANIPULATOR

Features of Meka H2 Hand

1. Under-actuated design: total of 12 DOF controlled by 5

actuators.

2. Series Elastic Actuator (SEA): By placing a spring

between the motor and the finger drive tendon.

Features of Meka A2 Manipulator

1. Lightweight 7 DOF force-controlled arm and uses

SEA.

2. For human-robot interaction.

30/11/2018[13] HTTP://WWW.HIZOOK.COM/BLOG/2009/10/18/MEKA-ROBOTICS-HUMANOID-TORSO-AND-ANTHROPOMORPHIC-HANDS 9

Inventors: Meka Robotics & San Francisco robotics; Start-up founded by MIT [13]

SUMMARY OF REVIEWED ROBOTIC ARMS : MECHATE

ANIMATRONIC HAND

Features of MechaTE Animatronic Hand

1. Futaba S3114 Micro Servos.

2. Only 5 servos to manage 14 joints.

3. Compliant Adjustment: Each finger (but not

thumb) is equipped with a servo saver system. The

two shaft collars on either side of the servo horn

brass connector (at the ends of the springs) and be

moved to compress or de-compress the

springs to your liking.

30/11/2018[14] HTTPS://SPECTRUM.IEEE.ORG/AUTOMATON/ROBOTICS/HUMANOIDS/DLR-SUPER-ROBUST-ROBOT-HAND

[15] HTTP://MINDTRANS.NAROD.RU/PDFS/MECHATE-LE-INSTRUCTIONS-CESHND01-LE.PDF10

Inventors: Institute of Robotics and Mechatronics; German Aerospace Center (DLR) [14,15]

SUMMARY OF REVIEWED ROBOTIC ARMS : A SOFT

ROBOTIC ARM AND HAND SYSTEM

Features of Disney Soft Robotic Arm and

Hand:

1. The 6 DOF arm has two air-filled force sensing

modules

2. The arm has an inflated outer cover which encloses

the arm’s underlying mechanisms and force sensing

modules.

3. On the end of the arm is a 3D printed hand with

air-filled, force sensing fingertips.

30/11/2018[16] ALSPACH, ALEXANDER, JOOHYUNG KIM, AND KATSU YAMANE. "DESIGN AND FABRICATION OF A SOFT ROBOTIC HAND

AND ARM SYSTEM."11

Inventors: By Disney Research; Published in: IEEE-RAS International Conference on Soft Robotics

2018; Published on : April 25, 2018 [16]

SUMMARY OF REVIEWED ROBOTIC ARMS:

DIFFERENT ARMS

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[17] HTTP://WWW.ANDROIDWORLD.COM/PROD61.HTM

[18] HTTPS://WWW.SHADOWROBOT.COM/PRODUCTS/DEXTEROUS-HAND/

[19] YOKOI, HIROSHI, ET AL. "MUTUAL ADAPTATION IN A PROSTHETICS APPLICATION." EMBODIED ARTIFICIAL INTELLIGENCE.

SPRINGER, BERLIN, HEIDELBERG, 2004. 146-159.

[20] HTTPS://WWW.EUCOGNITION.ORG/INDEX.PHP?PAGE=CHEAP-GRASPING-WITH-A-ROBOTIC-HAND

12

David Ng - Robot Hand/Arm [17] By Shadow Robot Company [18] Yokoi Hand [19,20]

Artificial Intelligence Laboratory

University of Zurich

SUMMARY OF REVIEWED ROBOTIC ARMS:

LIMITATIONS

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BULKY ARMS: Weight & Size ( average human arm weight : 3.63 Kg ).

TRADITIONAL ROTARY ACTUATORS ( can’t mimic the antagonistic feature of human muscles).

APPEARANCE : look more like assembly of mechanical components and electronics.

SMART ACTUATORS FOR ARTIFICIAL MUSCLE

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McKibben artificial muscle

Shape Memory Alloys ( SMAs)

MCKIBBEN ARTIFICIAL MUSCLES

[21] DAERDEN, FRANK, AND DIRK LEFEBER. "PNEUMATIC ARTIFICIAL MUSCLES: ACTUATORS FOR ROBOTICS AND AUTOMATION." EUROPEAN JOURNAL OF

MECHANICAL AND ENVIRONMENTAL ENGINEERING 47.1 (2002): 11-21.

[22] HTTPS://EN.WIKIPEDIA.ORG/WIKI/FILE:SAM_ANIMATION-REAL-MUSCLE.GIF#FILELINKS

[23] VIDEO LINK: HTTPS://WWW.YOUTUBE.COM/WATCH?V=0ZBD2TCKOU4&LIST=PLG22NKIYTG3DZKBNEUCE_X0FINWHYC_NK

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McKibben artificial muscles are contractile or

extensional devices operated by pressurized air.

Fig. Air muscle contracting and extending [21,22]

MCKIBBEN ARTIFICIAL MUSCLES

[21] DAERDEN, FRANK, AND DIRK LEFEBER. "PNEUMATIC ARTIFICIAL MUSCLES: ACTUATORS FOR ROBOTICS AND AUTOMATION." EUROPEAN JOURNAL OF

MECHANICAL AND ENVIRONMENTAL ENGINEERING 47.1 (2002): 11-21.1630/11/2018

Fig. Air muscle under constant load[21] Fig. Isobaric force-contraction diagrams

MCKIBBEN ARTIFICIAL MUSCLES

[21] DAERDEN, FRANK, AND DIRK LEFEBER. "PNEUMATIC ARTIFICIAL MUSCLES: ACTUATORS FOR ROBOTICS AND AUTOMATION." EUROPEAN JOURNAL OF

MECHANICAL AND ENVIRONMENTAL ENGINEERING 47.1 (2002): 11-21.1730/11/2018

1. At minimum contraction, as the pressure increases, the force

also increases.

2. As the percent contraction increases, the force decreases at

each pressure.

This is similar to the human muscle. The force drops from its highest

value at full muscle length to zero at full muscle contraction.

Fig. Isobaric force-contraction diagrams

30/11/2018[21] DAERDEN, FRANK, AND DIRK LEFEBER. "PNEUMATIC ARTIFICIAL MUSCLES: ACTUATORS FOR ROBOTICS AND

AUTOMATION." EUROPEAN JOURNAL OF MECHANICAL AND ENVIRONMENTAL ENGINEERING 47.1 (2002): 11-21.18

MCKIBBEN ARTIFICIAL MUSCLES

Differences Similarities

Skeletal muscles:

• Do not change volume during contraction

• Have a modular structure (they are made up of

parallel and series connected microscopic contractile

systems)

• Have integrated multiple force and strain sensors

• Have energy stored in them and running through

them

• Can serve as energy source or even building material

for muscles of other biological systems

• Monotonically decreasing load-contraction relation

• Both need to be setup antagonistically in order to

allow bidirectional motion

SHAPE MEMORY ALLOYS

[24] HTTP://WWW.ISSP.AC.RU/EBOOKS/BOOKS/OPEN/SHAPE_MEMORY_ALLOYS.PDF

[25] HTTPS://WWW.YOUTUBE.COM/PLAYLIST?LIST=PLG22NKIYTG3CBOFJ9LQBXWX3JJGZT7DJW1930/11/2018

• Commercially available as NiTi or Nitinol wires or

springs.

• Shape Memory Effect (SME) :

At low temperature SMA can be deform plastically

but this plastic strain can be recover by increasing

temperature this is called Shape Memory Effect

(SME). [24]

SHAPE MEMORY ALLOYS

[26] HTTPS://WWW.YOUTUBE.COM/WATCH?V=-K57CBOHA5G&START_RADIO=1&LIST=RDQMHW63QSIR_9G 2030/11/2018

• How to make a NiTiol wire memorize a Shape?

Answer: Shape setting operation: Heat treatment/

Annealing above phase transformation temperature.

Deformed to Any Shape

Apply Heat

(~ 80°C)

Restores to its Pre- Deformed

Shape

Bake SMA (~410°C)

SHAPE MEMORY ALLOYS

[24] HTTP://WWW.ISSP.AC.RU/EBOOKS/BOOKS/OPEN/SHAPE_MEMORY_ALLOYS.PDF2130/11/2018

Fig. Actuation force at different annealing temperature[24] Fig. Analysis of Force at Different Voltage and Pulse Time[24]

SHAPE MEMORY ALLOYS: A SIMPLE ACTUATOR

CONFIGURATION

[25] YANG, K., AND C. L. GU. "A COMPACT AND FLEXIBLE ACTUATOR BASED ON SHAPE MEMORY ALLOY SPRINGS." PROCEEDINGS OF THE INSTITUTION OF MECHANICAL

ENGINEERS, PART C: JOURNAL OF MECHANICAL ENGINEERING SCIENCE 222.7 (2008): 1329-1337.

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Fig. Sketch map of a compact flexible actuator [25]

3 DOF SHOULDER JOINT

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Z

X

Y

Sun Gear

Planet Gear

Motor 1

Motor 3

Motor 2

Simple Gear Train

3DOF

SHOULDER

JOINT

24

3DOF

SHOULDER

JOINT

25

3DOF SHOULDERJOINT

26

3DOF SHOULDER JOINT

27

3DOF SHOULDERJOINT

28

2 DOF

ELBOW JOINT

29

2 DOF

ELBOW JOINT

30

2 DOF WRISTJOINT

31

2DOF WRISTJOINT

32

HAND DESIGN – BASED ON FIBONACCI SERIES (GOLDEN RATIO)

Their average data from 197 subjects shows that the ratio of the distance from

the metacarpophalangeal joint to the proximal interphalangeal joint (MCP-PIP)

and the distance from PIP to phalangeal tip is 1:1 in all the fingers. The ratio of

the distance from the PIP to the distal interphalangeal joint (PIP-DIP) and the

distance from the DIP to the phalangeal tip (DIP-tip) is 1.3:1 for the index,

middle, and ring fingers and 1:1 for the little finger. In other words, the ratios of

the DIP-tip/PIP-DIP/MCP-PIP distances were 1:1:2 for the little finger and

1:1.3:2.3 for the other fingers. [26]

Fig. Functional lengths of the phalanges as determined by

Hamilton (Journal of Hand Surgery (Edinburgh, Scotland) 27:546,

2002 [26]3330/11/2018[26] BASHOUR M. HISTORY AND CURRENT CONCEPTS IN THE ANALYSIS OF FACIAL ATTRACTIVENESS. PLAST RECONSTR SURG. 2006;118(3):741–56.

HAND DESIGN – BASED ON FIBONACCI SERIES (GOLDEN RATIO)

I

T

M

R

L

Finger Name Tip-DIP (cm) DIP-PIP (cm) PIP-MCP

(cm)

Index Finger (I) 2.23 1.3 x I =2.89 2.3 x I = 5.13

Mid Finger (M) 2.44 1.3 x M =3.1 2.3 x M =5.61

Ring Finger (R) 2.12 1.3 x R =

2.75

2.3 x R =

4.87

Little Finger (L) 1.79 1 x L = 1.79 2 x L = 3.58

Table 1 Based on the data provided by Habib et. al. in [9]

HAND DESIGN – BASED ON FIBONACCI SERIES (GOLDEN RATIO)

Phalanges lengths of left hand of an

Egyptian female[27]

[27] HABIB, SAHAR REFAAT, AND NASHWA NABIL KAMAL. "STATURE ESTIMATION FROM HAND AND PHALANGES LENGTHS OF EGYPTIANS." JOURNAL OF FORENSIC AND LEGAL

MEDICINE 17.3 (2010): 156-160.

35

Slot for Thermocouple and FRS (Dimensions of the sensors have been Considered during designing)

Slot for Connecting Wires

A Slot on the Back Side for Accelerometer ( IMU )

Slot Bowden Cables

HAND DESIGN – EXPLAINED

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HAND DESIGN – DIMENSIONS

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HAND DESIGN – DIMENSIONS

Hand dimension measuring on a 2D image by using CorelDRAW X5[27].

Design

Tip to Wrist 166.42 mm

Width of Palm 72.46 mm

Thickness of

Palm

10. 00 mm

[27] HABIB, SAHAR REFAAT, AND NASHWA NABIL KAMAL. "STATURE ESTIMATION FROM HAND AND

PHALANGES LENGTHS OF EGYPTIANS." JOURNAL OF FORENSIC AND LEGAL MEDICINE 17.3 (2010): 156-160.

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HAND DESIGN – SIMULATIONS 1

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HAND DESIGN – SIMULATIONS 2

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HAND DESIGN – SIMULATIONS 3

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CONCLUSION AND FUTURE SCOPE

• Muscles in human arm work in pairs. A robotic arm with such antagonistic

muscle pairs has to be developed with sensing capabilities.

• Existing robotic arms use traditional actuators, are bulky and don’t have

appearance like a human arm.

• A design based on Fibonacci series ( Golden Ratio) is proposed.

• The current idea is to use either Bowden cables or SMA in the robotic

arm and hand, so the design has been prepared accordingly.

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Thank You!