ABSTRACT
The Wearable Robotic Limb (WRL) is a type of robotic arm worn on the human body, aiming to enhance the wearer's operational capabilities. However, proposing additional methods to control and perceive the WRL when human limbs are heavily occupied with primary tasks presents a challenge. Existing interactive methods, such as voice, gaze, and electromyography (EMG), have limitations in control precision and convenience. To address this, we have developed an interactive device that utilizes the mouth and tongue. This device is lightweight and compact, allowing wearers to achieve continuous motion and contact force control of the WRL. By using a tongue controller and mouth gas pressure sensor, wearers can control the WRL while also receiving sensitive contact feedback through changes in mouth pressure. To facilitate bidirectional interaction between the wearer and the WRL, we have devised an algorithm that divides WRL control into motion and force-position hybrid modes. In order to evaluate the performance of the device, we conducted an experiment with ten participants tasked with completing a pin-hole assembly task with the assistance of the WRL system. The results show that the device enables continuous control of the position and contact force of the WRL, with users perceiving feedback through mouth airflow resistance. However, the experiment also revealed some shortcomings of the device, including user fatigue and its impact on breathing. After experimental investigation, it was observed that fatigue levels can decrease with training. Experimental studies have revealed that fatigue levels can decrease with training. Furthermore, the limitations of the device have shown potential for improvement through structural enhancements. Overall, our mouth and tongue interactive device shows promising potential in controlling the WRL during tasks where human limbs are occupied.
Subject(s)
Mouth , Robotics , Tongue , Wearable Electronic Devices , Humans , Male , Adult , ElectromyographyABSTRACT
Mixed reality technology can give humans an intuitive visual experience, and combined with the multi-source information of the human body, it can provide a comfortable human-robot interaction experience. This paper applies a mixed reality device (Hololens2) to provide interactive communication between the wearer and the wearable robotic limb (supernumerary robotic limb, SRL). Hololens2 can obtain human body information, including eye gaze, hand gestures, voice input, etc. It can also provide feedback information to the wearer through augmented reality and audio output, which is the communication bridge needed in human-robot interaction. Implementing a wearable robotic arm integrated with HoloLens2 is proposed to augment the wearer's capabilities. Taking two typical practical tasks of cable installation and electrical connector soldering in aircraft manufacturing as examples, the task models and interaction scheme are designed. Finally, human augmentation is evaluated in terms of task completion time statistics.
ABSTRACT
Passive daytime radiative cooling (PDRC) involves spontaneously cooling a surface by reflecting sunlight and radiating heat to the cold outer space. Current PDRC designs are promising alternatives to electrical cooling but are either inefficient or have limited applicability. We present a simple, inexpensive, and scalable phase inversion-based method for fabricating hierarchically porous poly(vinylidene fluoride-co-hexafluoropropene) [P(VdF-HFP)HP] coatings with excellent PDRC capability. High, substrate-independent hemispherical solar reflectances (0.96 ± 0.03) and long-wave infrared emittances (0.97 ± 0.02) allow for subambient temperature drops of ~6°C and cooling powers of ~96 watts per square meter (W m-2) under solar intensities of 890 and 750 W m-2, respectively. The performance equals or surpasses those of state-of-the-art PDRC designs, and the technique offers a paint-like simplicity.
