Yigit, Dilara (2024) Facilitating Smooth Handovers with a Gesture-Control Glove for Assistive Robotic Manipulators. Bachelor's Thesis, Biomedical Engineering.
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Abstract
Individuals who survive a stroke often require assistance to be able to perform basic tasks. Robotic aids, such as Assistive Robotic Manipulators (ARMs) can be used to help stroke survivors perform tasks, by grasping and handing over items to the patient. Robotic handover is an essential part of human-robot interaction (HRI). Implementing intuitive robot to human handover is still challenging to this day. In this project, a glove facilitating gesture control was designed to improve robot-to-user handover. Two MPU-6050 sensors and two flex sensors were embedded onto a glove to provide orientation data of the hand and sense bending of the fingers, respectively. Handover was controlled by movements of the hand wearing the glove. Data from the glove was sent to the ARM to move the manipulator between positions while independently operating the gripper. Testing was conducted by handing over five different items twenty times each. Results showed an average handover time of 7.76 seconds with an error rate of 18.03%. There was a significant difference in handover times between tested items. Possible factors that impacted the results are testing environment, the same user performing all tests and hardware limitations. The design shows promise in being a fast and intuitive method at facilitating robotic handover. Future research is needed to improve success rate and determine compatibility with the target demographic.
| Item Type: | Thesis (Bachelor's Thesis) |
|---|---|
| Supervisor name: | Wilhelm, E. and Fluit, R. |
| Degree programme: | Biomedical Engineering |
| Thesis type: | Bachelor's Thesis |
| Language: | English |
| Date Deposited: | 03 Jul 2024 11:46 |
| Last Modified: | 03 Jul 2024 11:46 |
| URI: | https://fse.studenttheses.ub.rug.nl/id/eprint/33002 |
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