Development and Evaluation of a Hybrid Human Machine Interface for the Control of an Extra Robotic Arm in the Framework of Robotic Body Augmentation

Francesca Paola Maenza

Development and Evaluation of a Hybrid Human Machine Interface for the Control of an Extra Robotic Arm in the Framework of Robotic Body Augmentation.

Rel. Danilo Demarchi, Silvestro Micera. Politecnico di Torino, Master of science program in Biomedical Engineering, 2023

Abstract

Robotic body augmentation refers to the enhancement of human physical capabilities through the integration of robotic systems. Specifically, extra robotic arms (XRAs) are wearable robotic devices engineered for the purpose of enhancing human sensorimotor capabilities. In this context, the aim of this project is to implement, develop, and characterize the control of a XRA via a hybrid human machine interface (HMI) combining gaze and diaphragmatic respiration to provide users with a XRA that is easy to use and control. Specifically, this work builds on top of previous efforts which resulted in the development of a proportional control of a robotic arm end effector (i.e., a gripper) through diaphragmatic respiration modulation.

Here, in order to provide the user with the ability to freely control the position of the robot end effector in space, we integrated also the control of the robotic arm's spatial position using the HoloLens, an holographic computer and a mixed reality head-mounted display that, through a real time application, provides information on head pose, gaze direction and point of gaze, which can be used to map the 3D position of gaze in space