Co-Limbs: An Intuitive Collaborative Control for Wearable Robotic Arms

Guillaume Gourmelen (1) , Adrien Verhulst (2) , Tomoya Sasaki (2) , Benjamin Navarro (1) , Gowrishankar Ganesh (1) , Masahiko Inami (2)

1 IDH - Interactive Digital Humans
2 UTokyo - The University of Tokyo

The promising possibilities offered by supernumerary robotic wear-able arms are limited by the lack of an intuitive and robust user interface to control them. Here, utilizing admittance control, we propose a 'Collaborative limbs', or 'Co-limbs' user interface for wearable robot arms. The key feature of this user interface is its intuitiveness enabling even first time users to immediately move and use the, normally stiff, robot arms for assistive tasks and even teach the robot simple and useful movements. We demonstrate the diverse range of applications enabled by this simple but powerful user interface through example demonstrations in the Passive Assist, Power Assist and Playback modes.

Mots clés: Human-robot interaction; Assitive robotics; Collaborative control; Robotic Supernumerary limbs

Domaines: Automatique

Guillaume Gourmelen, Adrien Verhulst, Tomoya Sasaki, Benjamin Navarro, Gowrishankar Ganesh, et al.. Co-Limbs: An Intuitive Collaborative Control for Wearable Robotic Arms. SA 2019 - 12th ACM SIGGRAPH Conference and Exhibition on Computer Graphics and Interactive Techniques in Asia, Nov 2019, Brisbane, Australia. pp.9-10, ⟨10.1145/3355049.3360526⟩. ⟨hal-02407032⟩