WO2020081643A1 - Matériel d'extension pour dispositif de commande physique - Google Patents

Matériel d'extension pour dispositif de commande physique Download PDF

Info

Publication number
WO2020081643A1
WO2020081643A1 PCT/US2019/056469 US2019056469W WO2020081643A1 WO 2020081643 A1 WO2020081643 A1 WO 2020081643A1 US 2019056469 W US2019056469 W US 2019056469W WO 2020081643 A1 WO2020081643 A1 WO 2020081643A1
Authority
WO
WIPO (PCT)
Prior art keywords
microcontroller
pocket
controller
hardware device
extension hardware
Prior art date
Application number
PCT/US2019/056469
Other languages
English (en)
Inventor
Mohammad Ebrahim POUSTINCHI
Original Assignee
Kent State University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kent State University filed Critical Kent State University
Publication of WO2020081643A1 publication Critical patent/WO2020081643A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/20—Input arrangements for video game devices
    • A63F13/24—Constructional details thereof, e.g. game controllers with detachable joystick handles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/743—Keyboards
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F7/00—Heating or cooling appliances for medical or therapeutic treatment of the human body
    • A61F2007/0001—Body part
    • A61F2007/0029—Arm or parts thereof
    • A61F2007/0032—Elbow
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F7/00—Heating or cooling appliances for medical or therapeutic treatment of the human body
    • A61F2007/0001—Body part
    • A61F2007/0039—Leg or parts thereof
    • A61F2007/0042—Knee
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/20—Input arrangements for video game devices
    • A63F13/21—Input arrangements for video game devices characterised by their sensors, purposes or types
    • A63F13/213—Input arrangements for video game devices characterised by their sensors, purposes or types comprising photodetecting means, e.g. cameras, photodiodes or infrared cells
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/90—Constructional details or arrangements of video game devices not provided for in groups A63F13/20 or A63F13/25, e.g. housing, wiring, connections or cabinets
    • A63F13/98—Accessories, i.e. detachable arrangements optional for the use of the video game device, e.g. grip supports of game controllers

Definitions

  • the present exemplary embodiment relates to extension hardware for a physical controller (e.g., for a KUKA robotics controller).
  • KUKA software packages also typically cost around $3000 and take around 2 hours to set-up.
  • the present disclosure relates to a hardware extension for a physical controller.
  • Disclosed in further embodiments is a method for controlling a robot using a hardware extension as described herein and/or as illustrated in the accompanying drawings.
  • the extension hardware device for a physical controller may include a shell comprising a microcontroller pocket, a controller pocket, and a plurality of motors.
  • a microcontroller may be received within the microcontroller pocket.
  • the microcontroller is an
  • the plurality of motors may be received in a common motor pocket or a plurality of motor pockets.
  • the motors may be individually controllable to facilitate activating/deactivating individual buttons on the controller.
  • a network card (e.g., a wireless or wired card) may be received within the microcontroller pocket.
  • the shell may include a first shell component, a second shell component, and at least one fastener connecting the first shell component to the second shell component.
  • the second shell component contains at least a portion of the motor pocket and/or the microcontroller pocket.
  • the controller pocket may be configured to receive a KUKA teach pendant.
  • the extension hardware device may further include a microcontroller input device.
  • the microcontroller input device is selected from the group consisting of a depth-sensing camera, a gaming controller, a cell phone, and a wearable sensor. Combinations of two or more of the aforementioned may also be used.
  • FIG. 1 is a first perspective view of the PX-Alpha Robot Operator.
  • FIG. 2 is a second perspective of the PX-Alpha Robot Operator with a KUKA
  • FIG. 4 is a first side view of the PX-Alpha Robot Operator with a KUKA KRC4 teach pendant in its pocket.
  • FIG. 6 is a top view of the PX-Alpha Robot Operator with a KUKA KRC4 teach pendant in its pocket.
  • FIG. 7 is a further perspective view of the PX-Alpha Robot Operator with a KUKA KRC4 teach pendant in its pocket.
  • compositions, mixtures, or processes as“consisting of” and“consisting essentially of” the enumerated ingredients/steps, which allows the presence of only the named ingredients/steps, along with any impurities that might result therefrom, and excludes other ingredients/steps.
  • each intervening number there between with the same degree of precision is explicitly contemplated.
  • the numbers 7 and 8 are contemplated in addition to 6 and 9, and for the range 6.0-7.0, the number 6.0, 6.1 , 6.2, 6.3, 6.4, 6.5, 6.6, 6.7, 6.8, 6.9, and 7.0 are explicitly contemplated.
  • the PX-Alpha Robot Controller is a multi-input user- friendly extension hardware/add-on for a robot’s physical controller and allows controlling the industrial robot is real time. Connecting/attaching the operator to the teach pendant of the robot enables the user to control the robot using all six axes of freedom in real-time via any microcontroller friendly input. The operator can receive up to six multiple inputs to animate the six motion inputs of the robot - either controlling the six axes individually or controlling the end-effector using inverse kinematic through X, Y, Z for the position and A, B, C for the orientation.
  • the operator may include a microprocessor for controlling a plurality of servos and fit into a designed pocket.
  • the operator may use any micro- controller-friendly input platforms - based on the microcontroller of choice, including but not limited to Kinect (or any depth-sensing cameras), gaming controllers, color-based image processing, smart gloves, leap-motion sensor, cellphone applications, internet- based control, game-engine inputs, VR platforms, and wearable sensors such as muscle sensors. It is also possible to use all of the microcontroller-friendly programming platforms to activate/use the operator.
  • Programming may be limited to the connection of the input device to the operator’s microcontroller to animate the servo motors, which is accessible from many programming platforms.
  • PX-Alpha Robot Operator can use open-source software platforms including but not limited to iOS, Python, Java, C#, C++, Mel and other visual programming platforms such as Grasshopper 3D.
  • connection may be a wired connection (e.g., USB) or a wireless connection.
  • PX-Alpha Robot Operator Another advantage of PX-Alpha Robot Operator is the cost and time that it takes to have it set-up in comparison to previous methods. In particular, the PX-Alpha Robot Operator may reduce costs and time.
  • PX-Alpha Robot Operator is plug-and-play.
  • the extension hardware of the present disclosure is produced via additive manufacturing (e.g., 3D printing).
  • the user can control the servo to press a button associated with the KUKA robot.
  • the communication method between the user and the operator can happen through USB or wireless connection.
  • PX-Alpha Robot Operator it is possible to activate the PX-Alpha Robot Operator using any of the following programming platforms: Java, Python, C++, C Sharp, Grasshopper, and Processing, Software platforms like Rhino 3D, Autodesk MAYA, Matlab, Autodesk 3dsMAX, Unity 3D, Touch OSC, and any drone friendly sensors.
  • the microcontroller-friendly input platform includes a depth-sensing camera (e.g., Kinect), a gaming controller, color-based image processing, smart gloves, cellphone applications, wearable sensors (e.g., muscle sensors), or any combination thereof.
  • a depth-sensing camera e.g., Kinect
  • a gaming controller e.g., a gaming controller
  • color-based image processing e.g., color-based image processing
  • smart gloves e.g., Samsung Galaxy Tabs, etc.
  • cellphone applications e.g., Samsung Galaxy Tabs, etc.
  • wearable sensors e.g., muscle sensors
  • servo motors controlled by a microcontroller with a limitation of rotation of 45 degrees. Attached to the end of the servo is a custom two-legged head which acts as a pushing mechanism to activate the controlling buttons of the teach pendant of the robot.
  • FIGS. 1 -7 illustrate various components and angles of a hardware extension in accordance with some embodiments of the present disclosure.
  • the hardware extension may include two shell components connected via connector pins that extend into recesses in each shell component.
  • the shell includes pockets for receiving a physical controller, a microcontroller and/or a wireless card, and a plurality of motors.
  • FIG. 2 is a second perspective view of the extension hardware device 100 of FIG. 1 with a KUKA KRC4 teach pendant in its pocket.
  • FIG. 5 is a second side view of the extension hardware device 100 of FIGS. 1 - 4 with a KUKA KRC4 teach pendant in its pocket.
  • FIG. 6 is a top view of the extension hardware device 100 of FIGS. 1 -5 with a KUKA KRC4 teach pendant in its pocket.
  • FIG. 7 is a further perspective view of the extension hardware device of FIGS. 1 -6 with a KUKA KRC4 teach pendant in its pocket.
  • the extension hardware device 100 includes a shell 110 including a first shell part 112 and a second shell part 114.
  • the device 100 may further include a plurality of connecting pins or other fasteners for securing the first shell part 112 and the second shell part 114 together.
  • the first shell part includes first shell part opening 102 and the second shell part 114 includes second shell part openings 104.
  • the shell 110 includes controller recess or pocket 120 for receiving a controller, a microcontroller pocket or recess for receiving a microcontroller, and a motor pocket 140 for receiving a motor.
  • the device 100 further includes a motor 145 received within the motor pocket 140 and a microcontroller received within the microcontroller pocket.
  • the microcontroller may be connected to an input device (not shown) via a wireless connection (e.g., wireless card) and/or a wired connection (e.g., a cable 137 such as a USB cable).
  • a controller 125 e.g., a KUKA controller
  • the controller 125 may be received within the controller pocket 120.
  • the controller 125 may be connected to a robot (not shown) via a wired connected or a wireless connection.
  • the controller 125, microcontroller, and motor 145 may be powered from the same or different sources.
  • the power source or sources may be portable (e.g., batteries) and/or hardwired (e.g., a power cord plugged into an electrical outlet) and/or wireless.
  • the microcontroller and the motor 145 share a common power source. In some embodiments, the controller 125, microcontroller, and motor 145 share a common power source. In other embodiments, the controller 125 does not share a common power source with the microcontroller and the motor 145.
  • the extension hardware is powered via one or more USB ports (e.g., from a computer such as a laptop or a desktop, a power bank, or an outlet).
  • a computer such as a laptop or a desktop, a power bank, or an outlet.
  • the controller 125 includes a plurality of buttons and the extension hardware device comprises a plurality of motors 145 and associated moving parts 146.
  • Each motor 145 may be associated with a single button or a plurality of buttons.
  • each motor 145 is associated with a plurality of moving parts 146 (e.g., legs) and each moving part 146 is associated with one or more buttons on the controller 125.
  • the controller 125 includes a plurality of buttons that the moving part connected to the motor 145 can contact.
  • the controller may include separate on and off buttons and/or separate forward and reverse buttons.
  • the buttons include an on/off button, a forward button, and a reverse button.
  • the moving part 146 may include a single contactor (e.g., leg) for contacting the one or more buttons.
  • the moving part may include a plurality of contactors.
  • the moving part 146 may include a distinct contactor associated with each button of the controller 125 (e.g., two contactors for two buttons on the controller, three contactors for three buttons on the controller, etc.).
  • the moving part 146 is the same or similar to the four leg configuration of FIG. 3.
  • the two upper legs may be omitted.
  • a plurality of moving parts may be included.
  • the plurality may be associated with a common motor or a plurality of motors.
  • the moving part associated with the motor 145 includes two contactors (e.g., legs).
  • the shell 110 may include an opening 103 through which a corner of the controller 125 may extend or be received.
  • the methods generally include providing at least one signal from at least one input device to the hardware extension device.
  • the signal(s) may be provided wirelessly, via a wired connection, or a combination thereof.
  • the signal(s) may be provided via an automated process and/or from a user.
  • the bounding box of the PX-Alpha Robot Operator in millimeters is 193.5 w X 342.5 L x 213.5 H.
  • PX-Alpha controls 12 moving buttons (X, Y, Z potion data and A, B, C orientation data parameters or any of the robot’s six axes, in both positive and negative directions) on the teach pendant of the robot. In contrast, PX-01 controls two (play forward and play backward) buttons.
  • PX-Alpha uses six different servo-motors to control its operation; however PX- 01 uses only one. This fact itself is a recognizable difference but it also fundamentally affects the performance of the PX-Alpha in contract to PX-01 as explained below.
  • PX-Alpha Another difference between PX-Alpha and PX-01 is in their ability to have multiple users at the same time.
  • PX-Alpha (because of its six servo motors) can have six different direct inputs to operate each of the axes individually.
  • PX-Alpha can have six direct users at the same time that can see the effect of their input directly/ separately.
  • Tele-robotics where six people from six different locations connect to PX-Alpha through its microcontroller and each control a joint (axis) or position parameter.
  • the functionality may be advantageous for at least two reasons.
  • PX-Alpha enables the possibility for multiuser scenarios with minor coding/programming; this function is embedded in the hardware design of the tool.
  • PX-Alpha allows for direct feedback for each of the users, since they each are controlling an individual parameter. This is very different from the possibility of multi-user for PX-01 where it would mostly be possible through the software and possibly a mathematical operation, which would be more similar to voting. For instance, if three users out of five votes to move the robot, PX-01 would trigger the motion.
  • the designer of the set-up would like the audience/users to interact with the robot directly and in real-time and intuitively learn how to move the robot. For instance, imagine a set- up where PX-Alpha is being used in conjunction with a Microsoft Kinect sensor as an input. Kinect detects and sends the position data from six joints of the user’s body in realtime to PX-Alpha. Using almost any microcontroller-friendly software platform, the “Designer” of the experience can assign any of those data parameters to any of the X, Y, Z, A, B or C parameter on the teaching pendant using PX-Alpha.
  • the“user/audience” would be able to immediately learn how the movement of his/her joints are affecting the motion of the robot, and in a couple of minutes S/he would be able to control the motion of the robot in real-time in a performative way.
  • PX-Alpha hosts six servos with custom-design rotary heads; however, PX-01 only has one.

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Multimedia (AREA)
  • Robotics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un matériel d'extension physique/accessoire complémentaire convivial destiné à un dispositif de commande physique qui permet à un utilisateur de commander le dispositif de commande par l'intermédiaire de n'importe quelle plateforme d'entrée compatible avec des microcontrôleurs. Le dispositif de commande physique peut être un dispositif de commande physique pour la robotique KUKA, tel qu'un dispositif de commande KRC4 de 4e génération qui peut également être appelé « boîtier de commande ». Le matériel d'extension physique/accessoire peut être utilisé pour déplacer le robot en temps réel par interaction directe avec le boîtier de commande du dispositif de commande physique.
PCT/US2019/056469 2018-10-16 2019-10-16 Matériel d'extension pour dispositif de commande physique WO2020081643A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201862746015P 2018-10-16 2018-10-16
US62/746,015 2018-10-16

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WO2020081643A1 true WO2020081643A1 (fr) 2020-04-23

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Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160346659A1 (en) * 2015-05-29 2016-12-01 Michael E. April Sweetspot Trainer
US20160354932A1 (en) * 2015-06-03 2016-12-08 Harris Corporation Robotic system with haptic cutting tool
US20170020615A1 (en) * 2015-07-23 2017-01-26 Sri International Robotic arm and robotic surgical system
US20170042625A1 (en) * 2014-04-24 2017-02-16 Covidien Lp Robotic interface positioning determination systems and methods
US20170168565A1 (en) * 2014-03-02 2017-06-15 Drexel University Wearable Devices, Wearable Robotic Devices, Gloves, and Systems, Methods, and Computer Program Products Interacting with the Same
US20170181802A1 (en) * 2014-05-05 2017-06-29 Vicarious Surgical Inc. Virtual Reality Surgical Device
US20170255301A1 (en) * 2016-03-02 2017-09-07 Kindred Systems Inc. Systems, devices, articles, and methods for user input
WO2017160458A1 (fr) * 2016-03-17 2017-09-21 Intuitive Surgical Operations, Inc. Systèmes et procédés de commande d'insertion d'instrument
US20180079090A1 (en) * 2016-09-16 2018-03-22 Verb Surgical Inc. Robotic arms

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170168565A1 (en) * 2014-03-02 2017-06-15 Drexel University Wearable Devices, Wearable Robotic Devices, Gloves, and Systems, Methods, and Computer Program Products Interacting with the Same
US20170042625A1 (en) * 2014-04-24 2017-02-16 Covidien Lp Robotic interface positioning determination systems and methods
US20170181802A1 (en) * 2014-05-05 2017-06-29 Vicarious Surgical Inc. Virtual Reality Surgical Device
US20160346659A1 (en) * 2015-05-29 2016-12-01 Michael E. April Sweetspot Trainer
US20160354932A1 (en) * 2015-06-03 2016-12-08 Harris Corporation Robotic system with haptic cutting tool
US20170020615A1 (en) * 2015-07-23 2017-01-26 Sri International Robotic arm and robotic surgical system
US20170255301A1 (en) * 2016-03-02 2017-09-07 Kindred Systems Inc. Systems, devices, articles, and methods for user input
WO2017160458A1 (fr) * 2016-03-17 2017-09-21 Intuitive Surgical Operations, Inc. Systèmes et procédés de commande d'insertion d'instrument
US20180079090A1 (en) * 2016-09-16 2018-03-22 Verb Surgical Inc. Robotic arms

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