intelligent telepresence and assistive devices (itad) summary · design experiments and trials,...
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Intelligent Telepresence and
Assistive Devices (iTAD) Summary
Mojtaba Ahmadi, 2016
Carleton University
Introduction
■ 1960’s to 1980’s: Challenge: flexibility, sensing, accuracy,
speed, modelling, …
Robotics
■ Robotics today
Assistive Robotics
iTAD Project
■ Motivation: develop a multi-faceted assistant
– Novel Design base+ arm + head + touch …
– Intelligent plus suitable autonomy
– Work with healthcare and perform site experiments
– Carry instruments or other items
Telepresence / interactive Robots
■ Basic devices: meetings
Telepresence Robot Examples
■ Telepresence in health
Telepresence Robot Examples
■ Independent living
Telepresence Robot Examples
■ Telepresence in search and rescue
Telepresence Robot Examples
■ Other potentials
– Search and rescue
– Learning
– Parenting
– Supervision
– Politics!
iTAD Project
■ Targets:
– Target 1: Hospital environment (Y1-3)
– Target 2: Healthy and independent living (Y2-4)
– Target 3: Search and rescue (Y3)
iTAD Team
■ Project team:
– Project manager
– Prof. Mojtaba Ahmadi (also lead for controls and Instrumentation)
– Lead Engineers
– Prof. Rong Liu: Dynamics and actuation
– Prof. Xin Wang: Structural design
– Prof. Chantal Trudel: Ergonomics design
– Prof. Adrian Chan: Software: Navigation and mobility
– Prof. James Green: Software: Communications and interaction
– Students: MAE 22 + 1 EE + SCE 5 + ID 15
– Teaching Assistant: Justin Kernot
– 5 Volunteers from Tetra Society and maybe other org.
iTAD Team
Team/system Mobility
Sys.
ARM Interaction
Haptics
Remote
Instruments t
Structures
Dynamics
Controls
Hum. Factors
Systems
iTAD Project: Technical
■ External organization assist:
– Medical/hospital experts, nurses, engineers:
– Help with setting requirements and technical consultations
– Instrumentation, patient population information, etc.
– Later on collaborate on research studies
– Industries/expert individuals
– Advise and provide feedback on designs
– Contribute pieces of the technology if relevant
– Take on collaborative research
– Need assessment and advice on commercialization
– Elderly homes/organizations/research centres
– Need assessment and design evaluations
iTAD Project: Technical
■ Structure
– Structural design of the main frame
– Loading considerations and FEM analysis, optimization
– Material selection meeting biomedical constraints (BME)
– Shell system, manufacturing, acoustics
– Base support for the wheel system (and advanced
concepts)
– Arm design and construction
– Neck design and construction/mounting
– Structural integration, payload estimation, electrical
considerations
iTAD Project: Technical
■ Dynamics and actuation
– Kinematics and dynamics modelling of mobility system
– System simulation, loading estimates and requirements
analysis (torque, speed, etc)
– Advanced motion concepts: Omni-directional/suspension
– Arm and neck kinematics and dynamics modelling
– Electric motor spec, selection, transmission, and drive
– Dynamic balance estimation, sensing, and other system
safety aspects
– Battery selection and power wiring and ruggedization and
safety concerns (SREE)
iTAD Project: Technical
■ Controls
– Overall control hardware and software architecture
(integ.)
– Supervisory control addressing various modules
– Real-time control of the platform
– Real-time control arm and neck
– Sensory system and safe control
– Task control: Person tracking, object tracking in camera,
hall-way wall following (potential collaboration with SCE)
– Power system management and electronics
– ROS software investigation and implementation
iTAD Project: Technical
■ Human Factors
– Investigation of various environments and target
populations and analyze the needs, propose solutions
– Research existing systems and scientific evidence,
design experiments and trials, propose experiments
– Identify the main functionalities required and potential
issues and design for the Y1 prototype
– Investigating the requirements for the multimodal
interactions (doctor-patient-staff-robot)
– Esthetics, Any other human factors, ethics, and safety
iTAD Project: Technical
■ Systems
– Software architecture and implementation
– ROS vs. others platforms (collaborations with controls
team)
– User interface design and controls actions, critical data
exchange (remote operator and robot sites)
– High-level communication tools and software (Gesture,
voice
– Wireless communication infrastructure, communications
protocols
– Biosensors to be implement