Design and Implementation of Intelligent Truck Based on Azure Kinect

In recent years, due to the impact of COVID-19, the market prospect of non-contact handling has improved and the development potential is huge. This paper designs an intelligent truck based on Azure Kinect, which can save manpower and improve efficiency, and greatly reduce the infection risk of medical staff and community workers. The target object is visually recognized by Azure Kinect to obtain the center of mass of the target, and the GPS and Kalman filter are used to achieve accurate positioning. The 4-DOF robot arm is selected to grasp and transport the target object, so as to complete the non-contact handling work. In this paper, different shapes of objects are tested. The experiment shows that the system can accurately complete the positioning function, and the accuracy rate is 95.56%. The target object recognition is combined with the depth information to determine the distance, and the spatial coordinates of the object centroid are obtained in real time. The accuracy rate can reach 94.48%, and the target objects of different shapes can be recognized. When the target object is grasped by the robot arm, it can be grasped accurately according to the depth information, and the grasping rate reaches 92.67%. © 2023, ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering.

Joystick Controlled Autonomous Robotic Arm Using Inverse Kinematics with Object Detection

In 2019, the Novel Coronavirus Disease (COVID-19) was categorized as a pandemic. This disease can be transmitted via droplets on items or surfaces within several hours. Therefore, the researchers aimed to develop a wirelessly controlled robot arm and platform capable of picking up objects detected via object detection. Robot arm movements are done via the use of inverse kinematics. Meanwhile, a custom object detection model that can detect objects of interest will be trained and implemented in this project. To achieve this, the researchers utilize various open-source libraries, microcontrollers, and readily available materials to construct and program the entire system. At the end of this research, the prototype could reliably detect objects of interest, along with a grab-and-dispose success rate of 88%. Instruction data can be properly sent and received, and dual web cam image transfer reaches up to 1.72 frames per second. © 2023 IEEE.

Robotic Manipulation System Design and Control for Non-Contact Remote Diagnosis in Otolaryngology: Digital Twin Approach

The COVID-19 pandemic has emphasized the need for non-contact medical robots to alleviate the heavy workload and emotional stress experienced by healthcare professionals while preventing infection. In response, we propose a non-contact robotic diagnostic system for otolaryngology clinics, utilizing a digital twin model for initial design optimization. The system employs a master-slave robot architecture, with the slave robot comprising a flexible endoscope manipulation robot and a parallel robot arm for controlling additional medical instruments. The novel 4 degrees of freedom (DOF) control mechanism enables the single robotic arm to handle the endoscope, facilitating the process compared to the traditional two-handed approach. Phantom experiments were conducted to evaluate the effectiveness of the proposed flexible endoscope manipulation system in terms of diagnosis completion time, NASA task load index (NASA-TLX), and subjective risk score. The results demonstrate the system's usability and its potential to alternate conventional diagnosis. © 2013 IEEE.

Robotic Arm Aided Thermal Screening System

With the onset of the Covid-19 pandemic, the health of people has become more of a concern. With this, temperature measurement has gained even more significance. Non-contact thermometers give the advantage of being used in extreme infectious environments, lightweight, repeatability, and many more. Thermal screening helps in identifying people with a high body temperature who are potentially at risk. This research work focuses on the non-contact human body temperature measurement with the assistance of a robotic arm. The robotic arm is used to dispense the power of mobility to the system. The robotic arm, interfaced with Raspberry PI, is used to dispense the power of mobility to the system. Non-contact infrared temperature sensor, MLX90614, is interfaced with Arduino Nano and is used to measure human body temperature. The temperature obtained from the thermal gun is fed to the serial monitor app in the mobile that is connected through the USB cable to Arduino Nano. The temperature sensor's data is displayed on a mobile phone in Celsius unit. The format in which the sensor data is displayed is programmed using Arduino IDE. © 2022 IEEE

Robotic Arm controlled using IoT application

Work-from-home policies have been the standard since the worldwide pandemic breakout, and this has spurred the fast development of applications in the area of IoT for remotely monitoring and managing applications. This has encouraged us to design and develop a remotely controlled robotic arm that can be used in applications where the engaging human hazardous environment (such as quarantined rooms of COVID affected patients) is dangerous. This has led to the development of a B-rover called a robotic arm, which the technicians remotely control to reduce the direct contact between the technician and the hazardous environment. It has various applications, such as a health monitoring system for monitoring the patient's health conditions, sample collection from the patients and the capability of the Robotic Arm to deliver medications to the COVID affected patients without engaging humans. It is proposed to design a 3DOF(degrees of freedom) robotic arm with stepper motor which is controlled through Wi-Fi using the BlynkIoT App with widgets like Joystick and Sliders. This will pick and drop the objects from one place to another. The results show that the designed robotic arm shows a 3% variation from the simulated and actual results when the slider is adjusted. © 2022

Contactless Mask Monitoring and Biometric Attendance System

This paper attempts to give an overview of the system which is designed keeping social distancing guidelines in mind. Our system will detect in real-time, if the person in the captured live video is wearing a mask properly or not using a mask detecting algorithm developed using deep learning and neural networks with an accuracy of 96.05%. If and only if the person is wearing a mask, they will be allowed to scan the iris and hence record their attendance, which can be stored in excel or CSV formats. The location of iris biometric is translated to a real-life position in the 3D space with the resolution of 0.lmm. To scan the located biometric this system comprises a robotic arm. End effector of this robotic arm traverses to the translated position of the person's eye to scan iris with an iris scanner. The system employs a 'four degrees of motion' robotic arm that can autonomously align itself to the iris with an accuracy of 96.86%. It is battery operated and has a cylindrical workspace with maximum range of 300mm, hence it is easily deployable in institutions requiring secure authorization while monitoring COVID-19 safety norms. © 2022 IEEE.

IoT-Based Touchless Remote Control for Robotic Arm Using Kinect

Due to the current labor shortage situation, combined with the spread of COVID-19, the researchers came up with the idea of developing a contactless remote robotic arm system based on IoT. This research focuses on developing prototypes of remote control three-axis robotic arm via the Internet that can be applied in industrial, medical, and other applications. Abiding by the new normal situation, the Kinect sensor control input, a device capable of receiving commands from human gestures without touching, is used to alleviate the spread of the virus. From the development and experiment, it can be shown that the developed artifact can receive commands from human gestures to remotely control the robotic arm via the Internet in accordance with the intended purpose. © 2021 IEEE.

Development of Twin Surgical Robotic Arm System for Invasive Surgery

Due to the coronavirus's enormous spread and effect, a robotic arm system is designed such that doctors can perform contact-less surgery to minimize risk to their health. Modern robotic aided surgery frequently employs remote operation. The surgeon sits beside the console, guided by visual feedback, and utilises an input control panel to direct the slave robotic equipment doing the procedure. The study discusses a potential surgical robotic system that can be used in surgery. The first robotic arm, out of two, is capable of performing various operations: marking, incision and gluing, using a unique concept of multi-gripper introduced in this paper. The second one has an end-effector that is used for removing a specific part of the body. A camera like endoscopy micro usb camera is used to provide visual assistance to the surgeon. Designing is carried out on AutoCAD, and the components are 3D printed to construct the robot. Robotic arm is operated using a control panel consisting of joysticks and potentiometers. Wireless communication is achieved through NodeMCUs, which are used for interfacing actuators and sensors. This multi gripper will help in saving time as switching to different grippers is not needed for various operations. The robotic system design performs the operation efficiently, resulting in less blood loss and quicker recovery time while allowing the surgeon to control it remotely. © 2022 IEEE.

Development of A Semi Automatic-Robotic Arm for Swab Testing and Intimation System Using Robotic Process Automation

The SARS-CoV-2 pandemic is a health catastrophe and its consequences are severe and far-reaching. Globally the rapid community transmission is being restrained through testing to effectively mitigate and hence suppress the spread. While this has been widely propagated, the healthcare workers are being exposed to the citizens who may have contracted the virus or while handling samples at test. The scarcity of PPE kits and other essentials have added to the crisis. The paper proposes a semi-automatic robotic arm that would minimize human interaction while collecting swab and storing it, which hinders the spread and exposure of health workers to the virus. The Robotic Arm performs the tasks currently performed by medical practitioners and also automates the process of report generation and intimation to the persons who underwent the test using Robotic Process Automation. © 2022 IEEE.

A ROS-based Voice Controlled Robotic Arm for Automatic Segregation of Medical Waste Using YOLOv3

The outbreak of the Covid-19 pandemic has resulted in a surge in the generation of medical waste. Due to the transmissible nature of the Virus and the lack of effort at proper disposal, the safety of the front-line health workers, as well as the disposer, is at risk. Hence, to mitigate the spread of infectious diseases, a system is proposed that uses a robotic arm for segregating medical waste automatically. The robotic arm is operable through voice commands, and the segregating operation could function in automatic and manual mode. The system uses the YOLOv3 (You Only Look Once) algorithm to detect and classify the medical waste and then uses the Robot Operating System (ROS) platform to pick up and drop the waste object into color-coded bins. For this research, the medical waste has been categorized into 4 types, and for each type, a color-coded bin has been used for segregation. Our system has achieved 94% training accuracy for the YOLOv3 model on a custom dataset, whereas the system's overall accuracy in automated mode was 82.1%, derived after 30 trials. In the case of manual mode, an average accuracy of 82.5% has been achieved for the same number of trials. © 2022 IEEE.

Implementation of Remote Control of a Robot Arm by Hand Gestures

Recently, the coronavirus pandemic has led to a new normal lifestyle, and reducing contact with humans by 70% is necessary in order for preventing infection. Therefore, in order to reduce the chances of contact between humans to the greatest degree possible, we propose a prototype method for remotely controlling a robot arm using human hand gestures in a non-contact manner. By multithread processing of involving hand gesture recognition using a Kinect device, and conversion between the camera coordinate system and the robot coordinate system, smooth operation of the robot arm is realized by asynchronous communication using exclusive control (mutex class in C++) and queue buffering (queue class on C++). © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

Mechatronics Design and Kinematic Simulation of UTP-ISR01 Robot with 6-DOF Anthropomorphic Configuration for Flexible Wall Painting

In the year 2020, countries were in a race against the spread of Covid-19, leading to major deficiencies in the areas of health, economy, and construction. For this reason, the robotics industry emerged as a viable and safe option to perform important and critical tasks in different sectors, one of them is the real estate. For this reason, a robotic arm was designed to wall painting, this study is supported by the mechatronics engineering department of the Universidad Tecnológica del Perú. The designed robot called: 'UTP-ISR01' has 6 axes and a linear displacement of 2.8 m with turns of 0.24 sec/60°. For the calculation of the forward kinematics the Denavit Hartenberg method was used, then the homogeneous transformation matrices were used to calculate the rotation and translation movements of the robotic manipulator. With the equations identified in the inverse kinematics, the positions and orientations of the robot were plotted, as well as the dimensions of the working area. The CAD design was carried out with engineering software, such as Autodesk Inventor for the mechanical design and assembly of the parts. In addition, with RoboDK software, kinematic simulations and analysis were performed. In conclusion, the robotic arm will reduce the delivery times of the apartments built by the real estate companies. © 2022 IEEE.

Design and Development of Robotic Arm Movements and Body Frame for a Social Robot for Graduation Rites

The COVID-19 pandemic has brought crisis to people from around the world resulting to a transition from face-to-face classes to an online class in the academic sector. Graduation ceremonies also transition into an online ceremony where students passively attend the session. In this study, a Social Robot named 'Gradbot' is developed to help the students participate actively in their online ceremonies. The Body frame was designed using Fusion360. The Gradbot is compose of the Arduino microcontroller, servo motors, Bluetooth module, mounted on a 2WD car chassis and was simulated using Tinkercad and MATLAB. This study also includes the investigation of the degrees of freedom, type of joints, workspace, and the cartesian product of the developed Gradbot. © 2021 IEEE.

Automatic Fruit Picking: An Entry-level, in Scale, Approach for Cyber Physical Systems Understanding

The growing demand for food supplies, caused by the global population growth, and the continuously diminishing natural resources are posing many serious challenges. Furthermore, the economic and social uncertainty and the restrictions incurred by the recent COVID-19 pandemic are favouring the research for further fruit harvesting alternatives. The modernization of agriculture, involving interoperation among networking, machine learning, robotics, and big data entities seems to provide a promising direction to tackle the abovementioned problems. These systems, officially called cyber physical ones, can have a key role in the digital transformation of the agricultural sector, provided that people getting involved, from students and scientists of agricultural engineering to farmers and consulting professionals, are capable of understanding and using the diverse set of innovative applications belonging in this area. In this regard, taking advantage of the wide availability of cheap electronic components and suitable programming environments, modern educational practices can be further updated to provide tailored agricultural engineering solutions. The work presented herein describes the efforts to utilize a small robotic arm to identify and pick small fruits, assisted by a smart camera and a voice-commanded module. Despite the selection of low cost commercial off-the-self components and the small size of the final implementation, the main challenges towards the realization of a full-scale system, suitable for farm use, are fluently outlined while additional evaluation results are provided, from the educational point of view, as well. © 2021 ACM.

Design of Contact Force for Ultrasonic Scanner

The global hospital's capacity can gradually decline, especially after the outbreak of the COVID-19, and thus traditional medical methods can no longer bear a large number of patients. At present, most hospitals rely on doctors and nursing staff to diagnose and treat patients. This not only increases the burden on doctors and nursing staff but also greatly reduces the burden on health care quality. In order to obtain better health care quality, automation is one of the important factors in solving medical quality problems. We are conducting automated introduction research for the ultrasonic scanner. Robotic arms are used to replace doctors for consultations by adding jelly and injection buttons to the robotic arm. In terms of the contact between the end of the robotic arm and the human body, we introduced the force sensor and the depth camera into the robotic arm. With the force sensor and the depth camera feedback data, we perceive the feedback of the ultrasonic scanner and the human body contact force. The results show that our design can greatly increase the amount of hospital's capacity and reduce the burden on doctors. © 2021 IEEE.

Robotic Arm Utilization in Global Covid-19 Management

Humanity has always aspired to provide life-like traits and characteristics to its products to discover a replacement for himself to carry out his commands and also to adapt easily in an unfriendly environment. Since the late 2019, covid-19 pandemic has spread all over the world cause immense damage in the healthcare unit worldwide.To make a comeback into normal lifestyle towards medical unit robots are used for better treatment of patients. By considering these features, the authors have designed and developed a Low-Cost 3D printed humanoid robotic arm which can also be controlled and operated wirelessly. The proposed model in this paper uses a wireless RF module which acts as a common interface between the master and slave part of the prototype. The software platform Arduino IDE is used to give instructions to the hardware via high level code. The controller executes the program and performs the necessary movements and functions of the robotic arm in desired manner. The proposed model works on wireless technology which not only makes it more sophisticated at low cost but also provides six degrees of freedom. This model can be a key ingredient to free police workers in hazardous conditions, towards intelligent local traffic management systems and smart cities. © 2021 IEEE.