ABSTRACT
Traditional industry is seeing an increasing demand for more autonomous and flexible manufacturing in unstructured settings, a shift away from the fixed, isolated workspaces where robots perform predefined actions repetitively. This work presents a case study in which a robotic manipulator, namely a KUKA KR90 R3100, is provided with smart sensing capabilities such as vision and adaptive reasoning for real-time collision avoidance and online path planning in dynamically-changing environments. A machine vision module based on low-cost cameras and color detection in the hue, saturation, value (HSV) space is developed to make the robot aware of its changing environment. Therefore, this vision allows the detection and localization of a randomly moving obstacle. Path correction to avoid collision avoidance for such obstacles with robotic manipulator is achieved by exploiting an adaptive path planning module along with a dedicated robot control module, where the three modules run simultaneously. These sensing/smart capabilities allow the smooth interactions between the robot and its dynamic environment, where the robot needs to react to dynamic changes through autonomous thinking and reasoning with the reaction times below the average human reaction time. The experimental results demonstrate that effective human-robot and robot-robot interactions can be realized through the innovative integration of emerging sensing techniques, efficient planning algorithms and systematic designs.
ABSTRACT
Motor impairments in human gait following stroke or focal brain damage are well documented. Here, we investigated whether stroke and/or focal brain damage also affect the navigational component of spatially oriented locomotion. Ten healthy adult participants and ten adult brain-damaged patients had to walk towards distant targets from different starting positions (with vision or blindfolded). No instructions as to which the path to follow were provided to them. We observed very similar geometrical forms of paths across the two groups of participants and across visual conditions. This spatial stereotypy of whole-body displacements was observed following brain damage, even in the most severely impaired (hemiparetic) patients. This contrasted with much more variability at the temporal level. In particular, healthy participants and non-hemiparetic patients varied their walking speed according to curvature changes along the path. On the contrary, the walking speed profiles were not stereotypical and were not systematically constrained by path geometry in hemiparetic patients where it was associated with different stepping behaviors. These observations confirm the dissociation between cognitive and motor aspects of gait recovery post-stroke. The impact of these findings on the understanding of the functional and anatomical organization of spatially-oriented locomotion and for rehabilitation purposes is discussed and contextualized in the light of recent advances in electrophysiological studies.
