 |
|
||||||||||
Physical Human-Robot Interaction (pHRI)
Scientifica – Zürcher Wissenschaftstage
Berichte zu den RELab Demos:
ETH Summer School on Soft Robotics
Thank you very much for joining SSSR 2012 in Zurich! Recap
1st Swiss rtfMRI Neurofeedback Conference
A big thank you to all the speakers and over 150 participants! Recap
News
November 2012
Kaspar Leuenberger presents his PhD project at the ETH Tag.
April 2012
We welcome Frieder Wittman who joins us from the Technical University Munich.
March 2012
Mike Rinderknecht receives the 1st prize in the IEEE Region 8 Student Paper Contest
2012 Swiss Brain League research prize awarded to Silvio Ionta and Lukas Heydrich for work in collaboration with RELab.
RELab present at the BrainFair Zurich 2012.
February 2012
RELab hosts the 1st Swiss rtfMRI Neurofeedback Conference with over 150 participants.
September 2011
We welcome Auralius Manurung, who joins us from the Gyeongsang National University, South Korea.
July 2011
Marie-Christine Fluet receives the Best Poster Award at the 2011 International Conference on Rehabilitation Robotics (ICORR 2011)
June 2011
RELab featured on ETH Life
More news...
Since the fall semester 2011, the Rehabilitation Engineering Lab is offering a new course on Physical Human-Robot Interaction. The weekly 2h lecture, covering topics such as human factors, sensing, data acquisition, actuation, modeling control and safety/performance analysis, is complemented by weekly 2h laboratory sessions and a specialization project.
The concept of this course is described in detail in Gassert et al., IEEE Trans Educ 56(1), 2013.
Course Goal
The goal of this course is for students to understand the critical elements in human-robot interactions – both in terms of engineering and human factors – and use these to evaluate and design safe and efficient assistive and rehabilitative robotic systems.
Laboratory Sessions
Laboratory sessions are carried out on the ETHZ Haptic Paddle, a low-cost force-feedback device based on the open hardware haptic paddle successfully used at universities throughout the US.
Course Description
This link will take you to the page of the Physical Human-Robot Interaction course on the ETHZ Vorlesungsverzeichnis.
| Overview of the pHRI course: | |||
| Week | Lecture (2h) | Lab (2h) | Hand-out/in |
| 1 | Introduction and guest lecture | Application examples and demos | List of specialization projects |
| 2 | Human factors | Explore haptic illusions | Questionnaire |
| 3 | Sensing | Introduction to visual programing | LabView tutorial |
|
4 |
Data acquisition and real-time signal processing |
Lab 1
|
- |
| 5 |
Actuation and motor control in pHRI |
Lab 1 (cont.) |
MATLAB plots
|
| 6 |
Kinematics, transmissions, sensor colocation |
Lab visit | - |
| 7 |
Basic modeling and electromechanical analogy |
Lab 2
|
- |
| 8 | Basic control | Lab 2 (cont.) |
MATLAB plots
|
| 9 |
Advanced modeling (friction identification and modeling) |
Lab 3
|
- |
| 10 |
Interaction control (rendering of rigid contact) |
Lab 3 (cont.) |
MATLAB plots
|
| 11 | Performance metrics |
Lab 4 Specialization projects |
- |
| 12 |
Safety analysis and methods to minimize risk and injury |
Lab 4 (cont.) | - |
| 13 |
Applications in rehabilitation and assistive technology |
Prepare presentation | - |
| 14 | Student presentations | Specialization project demos | Data, plots/figures and slides |
|
Specialization projects offered to students in groups of two: |
|||
| Specialization project | Hardware variations | Supervisor | |
| 1) Effect of quantization and discretization on virtual wall rendering | optical encoder on motor shaft and PCI DAQ card | Bogdan Vigaru (vigarub@ethz.ch) | |
| 2) Velocity measurement | tachometer on motor shaft | Bogdan Vigaru (vigarub@ethz.ch) | |
|
3) Velocity estimation from hall sensor using Levant’s differentiator and discrete-time adaptive windowing |
Jean-Claude Metzger (jemetzge@ethz.ch) | ||
| 4) Haptic/VR needle insertion simulation with multiple tissue layers | Werner Popp (poppw@ethz.ch) | ||
| 5) Teleoperation between two haptic paddles (2 groups) | PCI DAQ card | Werner Popp (poppw@ethz.ch) | |
| 6) Impedance control with force feedback | force sensor integrated in paddle | Jean-Claude Metzger (jemetzge@ethz.ch) | |
| 7) Admittance control |
force sensor integrated in paddle, tachometer on motor shaft and linear power amplifier in velocity mode |
Jean-Claude Metzger (jemetzge@ethz.ch) | |
| 8) Identification of output impedance | force sensor integrated in paddle | Jean-Claude Metzger (jemetzge@ethz.ch) | |
| 9) Electromyographic (EMG) control | custom EMG amplifier and electrodes | Werner Popp (poppw@ethz.ch) | |
| 10) Psychophysical study to determine human perception thresholds | Yeongmi Kim (ykim@ethz.ch) | ||
| 11) Identification of finger impedance | force sensor integrated in paddle | Roger Gassert (gassertr@ethz.ch) | |
Course Notes and Material
Lecture slides, related publications and material for the specialization projects can be found on Ilias via MyStudies or by following this link:
https://ilias-app2.let.ethz.ch/goto.php?target=crs_35401&client_id=ilias_lda
Wichtiger Hinweis:
Diese Website wird in älteren Versionen von Netscape ohne
graphische Elemente dargestellt. Die Funktionalität der
Website ist aber trotzdem gewährleistet. Wenn Sie diese
Website regelmässig benutzen, empfehlen wir Ihnen, auf
Ihrem Computer einen aktuellen Browser zu installieren. Weitere
Informationen finden Sie auf
folgender
Seite.
Important Note:
The content in this site is accessible to any browser or
Internet device, however, some graphics will display correctly
only in the newer versions of Netscape. To get the most out of
our site we suggest you upgrade to a newer browser.
More
information
