SBIR-STTR Award

Direct to Phase II

The proposed solution will work as a real-time, operator and remote, tele-operated robotic system that is kinematically equivalent to a human user, facilitating dexterous manipulations. The robot arms will move with similar range of motion and dexterity to the way that a human’s arms move, and the operator will receive real-time sensory feed-back information from the Remote-robot, independent of operator's distance from the robot, which will be equipped with high fidelity load sensors. Along with the mechanics of this system, this will also take advantage of Virtual Reality Headset (VR) technologies allowing the operator to see what the Remote robot sees, delivering to the operator an immersive workspace experience. The architecture will facilitate later installation on different aerial work platforms, such as scissor lifts, boom trucks, industrial lift equipment, or any sufficiently sized/powered mobile platform. The integration of human operator mastering a remotely located robot results in a system with the resourcefulness and experience of the human operator combined with the strength, stamina, and precision advantages of robots. The scope includes: (i) design, fabricate and test a multi-DOF wrist for a tele-operated, dual-armed dexterous robot; (ii) design, fabricate, and test force-sensing, task-set-specific end-effectors and accompanying force-presenting mastering interface for the operator; (iii) fabricate and assemble a tele-operation system, with remote operations (via wire, fiber optic, or RF link); (iv) fabricate, and test a new Operator Vision System (stereo cameras and gimbal) and high-performance Head Mounted Display (HMD) equipped with a low-latency head tracking device; (v) develop control software and firmware for the platform; (vi) integrate control software, Operator Vision System, HMD, force-presenting tele-operation system and task-set-specific end-effectors with accompanying force-feedback mastering interface into an existing prototype; (vii) test/validate ability of the entire, stand-alone system through its ability to accomplish a collection of representative tasks to confirm proper operation and successful integration; and (viii) demonstrate the tele-operated, dual-armed dexterous robot. The integration of all components of the system will require complete synchronization of software, hardware, electronics, sensors (e.g., vision and load-cells), user input devices, Operator Vision System and HMD. The software will provide additional safety-related processes (e.g., fail-safe response to faults/malfunctions, etc.), control the Operator Vision System (stereo camera pan-tilt motorized mount), and integrate the dynamically controlled, tele-operated robot with end-user tailored, task-specific end effectors. Once all components are fully integrated into the existing exoskeleton robot, testing will be performed to confirm full functionality and control of the new system, its hardware, software, firmware and electronics.