Implementación de mimetismo robótico para los movimientos rotacionales de la muñeca humana
El mimetismo robótico hace alusión a la capacidad de un sistema para replicar los movimientos de un ser humano para cumplir una función específica. Este posee dos componentes muy importantes en su ejecución, el primero es el sensado del movimiento base y el segundo es la capacidad de un robot para e...
- Autores:
-
Gutiérrez González, Juan Camilo
- Tipo de recurso:
- Trabajo de grado de pregrado
- Fecha de publicación:
- 2023
- Institución:
- Universidad de los Andes
- Repositorio:
- Séneca: repositorio Uniandes
- Idioma:
- spa
- OAI Identifier:
- oai:repositorio.uniandes.edu.co:1992/73294
- Acceso en línea:
- https://hdl.handle.net/1992/73294
- Palabra clave:
- Filtro complementario en cascada
Dispositivo wearable
Mimetismo robótico
Robótica
Brazo robótico
Muñeca humana
Planeación de trayectoria
Orientación espacial
ROS 2
MoveIt
IMU
Ingeniería
- Rights
- License
- https://repositorio.uniandes.edu.co/static/pdf/aceptacion_uso_es.pdf
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Implementación de mimetismo robótico para los movimientos rotacionales de la muñeca humana |
| title |
Implementación de mimetismo robótico para los movimientos rotacionales de la muñeca humana |
| spellingShingle |
Implementación de mimetismo robótico para los movimientos rotacionales de la muñeca humana Filtro complementario en cascada Dispositivo wearable Mimetismo robótico Robótica Brazo robótico Muñeca humana Planeación de trayectoria Orientación espacial ROS 2 MoveIt IMU Ingeniería |
| title_short |
Implementación de mimetismo robótico para los movimientos rotacionales de la muñeca humana |
| title_full |
Implementación de mimetismo robótico para los movimientos rotacionales de la muñeca humana |
| title_fullStr |
Implementación de mimetismo robótico para los movimientos rotacionales de la muñeca humana |
| title_full_unstemmed |
Implementación de mimetismo robótico para los movimientos rotacionales de la muñeca humana |
| title_sort |
Implementación de mimetismo robótico para los movimientos rotacionales de la muñeca humana |
| dc.creator.fl_str_mv |
Gutiérrez González, Juan Camilo |
| dc.contributor.advisor.none.fl_str_mv |
Ávila Bernal, Alba Graciela Pantoja Narváez, Wendy Alexandra |
| dc.contributor.author.none.fl_str_mv |
Gutiérrez González, Juan Camilo |
| dc.contributor.jury.none.fl_str_mv |
Segura Quijano, Fredy Enrique |
| dc.subject.keyword.spa.fl_str_mv |
Filtro complementario en cascada Dispositivo wearable Mimetismo robótico Robótica Brazo robótico Muñeca humana Planeación de trayectoria Orientación espacial |
| topic |
Filtro complementario en cascada Dispositivo wearable Mimetismo robótico Robótica Brazo robótico Muñeca humana Planeación de trayectoria Orientación espacial ROS 2 MoveIt IMU Ingeniería |
| dc.subject.keyword.none.fl_str_mv |
ROS 2 MoveIt IMU |
| dc.subject.themes.spa.fl_str_mv |
Ingeniería |
| description |
El mimetismo robótico hace alusión a la capacidad de un sistema para replicar los movimientos de un ser humano para cumplir una función específica. Este posee dos componentes muy importantes en su ejecución, el primero es el sensado del movimiento base y el segundo es la capacidad de un robot para ejecutar dicho movimiento y con cuánta precisión. En este proyecto se implementó el mimetismo robótico para los movimientos de orientación de la muñeca humana definidos como Roll, Pitch y Yaw de manera individual. Esta implementación se hizo en un brazo de 6 grados de libertad a partir de un dispositivo wearable inalámbrico compuesto por un sensor tipo IMU y un sistema de procesamiento y filtrado, a partir de un filtro complementario en cascada (CCF) con un componente lineal y no lineal, cuya comunicación con el paquete "MoveIt!" en ROS 2 permite generar los movimientos en cada junta del brazo a través de un algoritmo de planeación de trayectoria. El rendimiento del sistema completo se caracterizó a partir del error relativo entre el ángulo medido en la mano con el wearable desarrollado WristSync y el ángulo medido en el end-effector del brazo robótico. Esta investigación logró un alto grado de mimetismo para el movimiento Roll, medio para Pitch y bajo para Yaw, es decir <5 %, <20 % y >25 % de error relativo respectivamente. Esto a partir de un sistema wearable que no limita la movilidad del usuario durante su operación. |
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2023 |
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2023-07-14 |
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2024-01-17T15:32:28Z |
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2024-01-17 |
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Trabajo de grado - Pregrado |
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info:eu-repo/semantics/bachelorThesis |
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Thomas, and V. H. Vu, “Natural Frequencies of the Human HandArm System using Finite Element Method and Experimental Modal Analysis,” Research Gate, https://www.researchgate.net/publication/283546707NaturalF requenciesoftheHumanHand−ArmSystemusingFiniteElementMethodandExperimentalModalAnalysis(accessed Jul,14, 2023). Schall, M.C. et al. (2015) Accuracy and repeatability of an inertial measurement unit system for fieldbased occupational studies, Taylor and Francis Online. https://www.tandfonline.com/doi/full/10.1080/00140139.2015.1079335 (Accessed: 12 July 2023). J. Qin et al., “Lifetime risk of symptomatic hand osteoarthritis: The Johnston County Osteoarthritis Project,” Arthritis amp; rheumatology (Hoboken, N.J.), https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5449255/ (accessed Jul. 13, 2023). K. H. Ng, V. Nazari, and M. Alam, “Can prosthetic hands mimic a healthy human hand?,” MDPI, https://www.mdpi.com/2673-1592/3/1/3 (accessed Jul. 13, 2023). J. Park, I. Hwang, and W. Lee, “Wearable robotic glove design using surface-mounted actuators,” Research Gate, https://www.researchgate.net/publication/344394161W earableRoboticGloveDesignU singSurface−MountedActuators(accessedJul,14, 2023). Rao, K. et al. (2021) An Automated Robotic Arm: A Machine Learning Approach, 2021 IEEE International Conference on Mobile Networks and Wireless Communications (ICMNWC). https://arxiv.org/ftp/arxiv/papers/2201/2201.07882.pdf (Accessed: July 4, 2023). Siddharth, K. (2016) Electronic health reporter, ELECTRONIC HEALTH REPORTER. https://electronichealthreporter.com/ai-not-going-disrupt-healthcare-system/ (Accessed: December 17, 2022). Hanan, J. (2020) Human learning and machine learning - how they differ?, Data Science Central. https://www.datasciencecentral.com/human-learning-and-machine-learninghow-they-differ/(Accessed: December 17, 2022). (2022) Davincisurgery.com. https://www.davincisurgery.com/da-vincisystems/about-da-vinci-systems (Accessed: December 17, 2022). Thermite® (2022) Howe amp; Howe Technologies. https://www.howeandhowe.com/civil/thermite#overview (Accessed: December 17, 2022). Snapshot: U.S. – Israeli robot accessory arm provides enhanced capabilities and precise manipulation (2020) Snapshot: U.S.-Israel Empower Bomb Squad Robots with Second Arm | Homeland Security. https://www.dhs.gov/science-andtechnology/news/2020/04/07/snapshot-us-israel-empower-bomb-squad-robots-second-arm (Accessed: December 17, 2022). Suárez Fernández, R.A. et al. (2016) Natural user interfaces for human-drone multi-modal interaction, Research Gate. https://www.researchgate.net/publication/304816895_Natural_user_interfaces_for_human-drone_multi-modal_interaction (Accessed: 12 July 2023). Shinde, V. et al. (2014) Hand gesture recognition system using camera, International Journal of Engineering Research amp; Technology. IJERT-International Journal of Engineering Research amp; Technology. https://www.ijert.org/hand-gesture-recognition-system-usingcamera (Accessed: March 31, 2023). Lopes, J. et al. (2017) Hand/arm gesture segmentation by motion using IMU and EMG Sensing, Procedia Manufacturing. Elsevier. https://www.sciencedirect.com/science/article/pii/S2351978917303645 (Accessed: March 31, 2023). Wirth, M.A. et al. (2019) Comparison of a new inertial sensor based system with an optoelectronic motion capture system for motion analysis of healthy human wrist joints, MDPI. https://www.mdpi.com/1424-8220/19/23/5297 (Accessed: 12 July 2023). Yasar, K. and Wigmore, I. (2022) What is wearable technology? definition, uses and examples, Mobile Computing. https://www.techtarget.com/searchmobilecomputing/definition/wearable-technology (Accessed: 12 July 2023). Lewis, C.M. (2023) A methodology for the effective specification of garments with integrated wearable technology, Smart Clothes and Wearable Technology (Second Edition). https://www.sciencedirect.com/science/article/pii/B9780128195260000096 (Accessed: 04 July 2023). Rodrigues, J. et al. (2018) Enabling technologies for the internet of health things, Research Gate. https://www.researchgate.net/publication/322261039_Enabling_Technologies_for_the_Internet_of_Health_Things (Accessed: 04 July 2023). Engineering, O. (2023) How to measure acceleration?, https://www.omega.com/en-us/.https://www.omega.com/en-us/resources/accelerometers (Accessed: 04 July 2023). Greenberg, A. (2014) The gyroscopes in your phone could let apps eavesdrop on conversations, Wired. https://www.wired.com/2014/08/gyroscope-listening-hack/#:~:text=Modern%20smartphones%20use%20a%20kind,in%20motion%20when%20they%20rotate. (Accessed: 04 July 2023). Magnetometer Exploration Tools: Magnetometer: NOAA Office of Ocean Exploration and Research. https://oceanexplorer.noaa.gov/technology/magnetometer/magnetometer.html#:~:text=A%20magnetometer%20is%20a%20passive,towed%20through%20the%20water%20column. (Accessed: 04 July 2023). MEMS (micro-electro-mechanical systems) STMicroelectronics. https://www.st.com/content/st_com/en/about/innovation---technology/mems.html (Accessed: 04 July 2023). “Rover de Exploración Marciana Uniandino (REM-U),” Robocol Uniandes, https://robocol.uniandes.edu.co/es/ (accessed Jul. 12, 2023). Robot operating system ROS. https://www.ros.org/ (Accessed: 04 July 2023). Ros (2022) AutomationWare. https://automationware.it/ros-eng/?lang=en (Accessed: 04 July 2023). LaValle, S.M. (2006) PLANNING ALGORITHMS, Planning algorithms / motion planning. http://lavalle.pl/planning/ (Accessed: 04 July 2023). Zhaoying, L. et al. (2019) A new path planning method based on concave polygon convex decomposition and artificial bee colony algorithm, Research Gate. https://www.researchgate.net/figure/The-result-of-RRT-algorithm-for-complex-obstacle-map-RRT-rapidly-exploring-random_fig20_338409346 (Accessed: 04 July 2023). J. Jermyn, “A Comparison of the Effectiveness of the RRT, PRM, and Novel Hybrid RRTPRM Path Planners,” Ijraset Journal For Research in Applied Science and Engineering Technology, https://www.ijraset.com/research-paper/effectiveness-of-the-rrt-prm-and-novel-hybrid-rrt-prm-path-planners (accessed Jul. 12, 2023). A. Kalnoskas, “What is sensor fusion?,” Sensor Tips, https://www.sensortips.com/featured/what-is-sensor-fusion-faq/ (accessed Jul. 12, 2023). Raghavan (2019) Kalman filter explained: Example, Medium. https://medium.com/@raghavan99o/kalman-filter-explained-example-95b3f2d324ee (Accessed: 04 July 2023). Robottini (2011) Robottini RSS. https://robottini.altervista.org/kalman-filter-vs-complementary-filter (Accessed: 04 July 2023). Pellois, R., Joris, L. and Brüls, O. Robot control based on human motion analysis with IMU, Multibody and Mechatronic Systems Laboratory. https://orbi.uliege.be/bitstream/2268/214324/1/Article%20RACIR%20RobinPellois.pdf (Accessed: March 31, 2023). Škulj, G.; Vrabiˇc, R.; Podržaj, P. A Wearable IMU System for Flexible Teleoperation of a Collaborative Robot. Sensors 2021, 21, 5871. https://doi.org/10.3390/s21175871 Güna¸stı, G. (2016) Quaternions Algebra, Their Applications in Rotations and Beyond Quaternions, Diva Portal. http://www.divaportal.org/smash/get/diva2:535712/FULLTEXT02 (Accessed: December 17, 2022). Tseletu, M. (2020) Evaluation of the validity of IMU sensors measuring wrist angular velocity by comparison with an optical motion tracking system, KTH ROYAL INSTITUTE OF TECHNOLOGY SCHOOL OF ENGINEERING SCIENCES IN CHEMISTRY, BIOTECHNOLOGY AND HEALTH. https://www.divaportal.org/smash/get/diva2:1475453/FULLTEXT01.pdf (Accessed: December 17, 2022). Naranjo Valero, C Guante interactivo para ambientes de realidad virtual. [Internet]. Uniandes; 2014 [citado: 2022, diciembre] 40 hojas González Avila, J Diseño de una interfaz hombre máquina por medio de una manilla electrónica ubicada en el antebrazo. [Internet]. Uniandes; 2014 [citado: 2022, diciembre] 63 hojas L. Itti, “Plot results of processing IMU data with the on-chip Digital Motion Processor (DMP),” Jevois smart machine vision camera, http://jevois.org/moddoc/DemoDMP/modinfo.html (accessed Jul. 12, 2023). Narkhede, P.; Poddar, S.; Walambe, R.; Ghinea, G.; Kotecha, K. Cascaded Complementary Filter Architecture for Sensor Fusion in Attitude Estimation. Sensors 2021, 21, 1937. https://doi.org/10.3390/s21061937 I. Colomina, J. J. Rosales, M. Gim, and M. Wiss, “Redundant imus for precise trajectory determination,” Research Gate, https://www.researchgate.net/profile/Ismael-Colomina/publication/237600533_REDUNDANT_IMUS_FOR_PRECISE_TRAJECTORY_DETERMINATION/links/0deec529edd05282b9000000/REDUNDANT-IMUS-FOR-PRECISE-TRAJECTORY-DETERMINATION.pdf (accessed Jul. 13, 2023). Ioan A. S, ucan, M.M. Geometric planners, Available Planners. https://ompl.kavrakilab.org/planners.html (Accessed: 04 July 2023). I. Bonev, “How is orientation in space represented with Euler angles?,” Mecademic Industrial Robotics, https://www.mecademic.com/academicarticles/space−orientation−euler−angles (Accessed Jul. 12, 2023). 9DOF click MIKROE. https://www.mikroe.com/9dof-click (Accessed: 04 July 2023). Attiny84 - Microchip Technology. https://www.microchip.com/en-us/product/ATtiny84 (Accessed: 04 July 2023). “Latex/Spandex,” Cottonique, https://www.cottonique.com/pages/latex-spandex (accessed Jul. 12, 2023). T-watch 2020 V3 LILYGO®. https://www.lilygo.cc/products/t-watch-2020-v3 (Accessed: 04 July 2023). “Android compass that can compensate for tilt and pitch,” Stack Overflow, https://stackoverflow.com/questions/16317599/android-compass-that-can-compensate-for-tilt-and-pitch (accessed Jul. 13, 2023). What are technology readiness levels (TRL)? TWI. https://www.twi-global.com/technical-knowledge/faqs/technology-readiness-levels#:~:text=Technology%20Readiness%20Levels%20(TRLs)%20are,regardless%20of%20their%20technical%20background. (Accessed: 04 July 2023). |
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Ávila Bernal, Alba Gracielavirtual::96-1Pantoja Narváez, Wendy AlexandraGutiérrez González, Juan CamiloSegura Quijano, Fredy Enriquevirtual::97-12024-01-17T15:32:28Z2023-07-142024-01-17https://hdl.handle.net/1992/73294instname:Universidad de los Andesreponame:Repositorio Institucional Sénecarepourl:https://repositorio.uniandes.edu.co/El mimetismo robótico hace alusión a la capacidad de un sistema para replicar los movimientos de un ser humano para cumplir una función específica. Este posee dos componentes muy importantes en su ejecución, el primero es el sensado del movimiento base y el segundo es la capacidad de un robot para ejecutar dicho movimiento y con cuánta precisión. En este proyecto se implementó el mimetismo robótico para los movimientos de orientación de la muñeca humana definidos como Roll, Pitch y Yaw de manera individual. Esta implementación se hizo en un brazo de 6 grados de libertad a partir de un dispositivo wearable inalámbrico compuesto por un sensor tipo IMU y un sistema de procesamiento y filtrado, a partir de un filtro complementario en cascada (CCF) con un componente lineal y no lineal, cuya comunicación con el paquete "MoveIt!" en ROS 2 permite generar los movimientos en cada junta del brazo a través de un algoritmo de planeación de trayectoria. El rendimiento del sistema completo se caracterizó a partir del error relativo entre el ángulo medido en la mano con el wearable desarrollado WristSync y el ángulo medido en el end-effector del brazo robótico. Esta investigación logró un alto grado de mimetismo para el movimiento Roll, medio para Pitch y bajo para Yaw, es decir <5 %, <20 % y >25 % de error relativo respectivamente. Esto a partir de un sistema wearable que no limita la movilidad del usuario durante su operación.Ingeniero ElectrónicoPregrado81 páginasapplication/pdfspaUniversidad de los AndesIngeniería ElectrónicaFacultad de IngenieríaDepartamento de Ingeniería Eléctrica y Electrónicahttps://repositorio.uniandes.edu.co/static/pdf/aceptacion_uso_es.pdfhttp://purl.org/coar/access_right/c_f1cf http://purl.org/coar/access_right/c_f1cfImplementación de mimetismo robótico para los movimientos rotacionales de la muñeca humanaTrabajo de grado - Pregradoinfo:eu-repo/semantics/bachelorThesisinfo:eu-repo/semantics/acceptedVersionhttp://purl.org/coar/resource_type/c_7a1fTexthttp://purl.org/redcol/resource_type/TPFiltro complementario en cascadaDispositivo wearableMimetismo robóticoRobóticaBrazo robóticoMuñeca humanaPlaneación de trayectoriaOrientación espacialROS 2MoveItIMUIngenieríaE. Bliznovska, “How many robots are there in the world,” WebsiteBuilder.org, https://websitebuilder.org/blog/how-many-robots-are-there-in-the-world/ (accessed Jul. 13, 2023).Industrial robots often used in manufacturing, https://www.universal-robots.com/in/blog/industrialrobots-in-manufacturing/ (accessed Jul. 13, 2023).Editor, “Nonindustrial types of robots,” Student Circuit, https://www.studentcircuit.com/learning/year3/robotics/nonindustrial-types-of-robots/ (accessed Jul. 13, 2023).C. Kamio, T. Aihara, and G. Minorikawa, “Development of human movement measurement device for long-term measurements,” Science Direct, https://www.sciencedirect.com/science/article/abs/pii/S0263224120302098 (accessed Jul. 13, 2023).H. Editor, “Bone amp; Joint Health,” Hudson Physicians, https://hudsonphysicians.com/bones/ (accessed Jul. 13, 2023).“Anatomy 101: Wrist joints,” The Hand Society, https://www.assh.org/handcare/blog/anatomy-101-wrist-joints (accessed Jul. 13, 2023).S. Adewusi, M. Thomas, and V. H. Vu, “Natural Frequencies of the Human HandArm System using Finite Element Method and Experimental Modal Analysis,” Research Gate, https://www.researchgate.net/publication/283546707NaturalF requenciesoftheHumanHand−ArmSystemusingFiniteElementMethodandExperimentalModalAnalysis(accessed Jul,14, 2023).Schall, M.C. et al. (2015) Accuracy and repeatability of an inertial measurement unit system for fieldbased occupational studies, Taylor and Francis Online. https://www.tandfonline.com/doi/full/10.1080/00140139.2015.1079335 (Accessed: 12 July 2023).J. Qin et al., “Lifetime risk of symptomatic hand osteoarthritis: The Johnston County Osteoarthritis Project,” Arthritis amp; rheumatology (Hoboken, N.J.), https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5449255/ (accessed Jul. 13, 2023).K. H. Ng, V. Nazari, and M. Alam, “Can prosthetic hands mimic a healthy human hand?,” MDPI, https://www.mdpi.com/2673-1592/3/1/3 (accessed Jul. 13, 2023).J. Park, I. Hwang, and W. 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TWI. https://www.twi-global.com/technical-knowledge/faqs/technology-readiness-levels#:~:text=Technology%20Readiness%20Levels%20(TRLs)%20are,regardless%20of%20their%20technical%20background. 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