HazBot: Development of a telemanipulator robot with haptics for emergency response
DOI:
https://doi.org/10.5055/ajdm.2008.0012Keywords:
haptics, hazmat, robotics, remote manipulation, teleoperation, telepresence, hazardous materials, explosive ordinance device, EOD, emergency responseAbstract
Objectives: To design a remotely operated robot, “HazBot,” for bioevent disaster response; specifically, to improve existing commercial robots’ capabilities in handling fixed-facility hazmat incidents via a unique robot controller that allows the human operator to easily manipulate HazBot in disaster situations.
Design: The HazBot’s design objectives were for a robot to approach a building, open doors, enter, and navigate the building. The robot’s controlling device was designed to provide features not available in current robots: dexterous manipulation and enhanced sensory (touch) feedback via “haptic” technology. The design included a companion simulator to train operators on HazBot.
Results: The HazBot met its design goals to do several hazmat-related tasks in place of a human operator: to enter and navigate a building, passing debris and doors as necessary. HazBot’s controller reduced the time for inexperienced users of manipulator robots to complete a door-opening task by 55 percent. HazBot overcame previous problems in operator control of robots, via its dexterous manipulation feature, its partially implemented haptic touch feedback, and via its companion simulator.
Conclusions: The HazBot system demonstrates superior capability over existing robots: it is technically sophisticated, yet moderately priced; it has dexterous manipulation to make operator tasks easier, haptic feedback, and an excellent companion simulator. HazBot is optimized for hazmat cleanups; is mobile and scaleable; can serve in multiple environments and uncontrolled conditions; and is optimal for disaster situations. It could potentially be used in other disaster situations to deliver medicine to isolated patients, evaluate such patients, assess a downed fire fighter, etc.
References
Levitin HW, Siegelson HJ: Hazardous materials disasters. In Hogan D, et al. (eds.): Disaster Medicine. Philadelphia, PA: Lippincott Williams & Wilkins, 2002: 258.
Jurmain J: Overview of haptics science and technology with applications to telemanipulation. http://engineering.dartmouth.edu/tr/reports/tr08-001.pdf. Accessed February 21, 2008.
Wagner C, Howe R: Mechanisms of performance enhancement with force feedback. Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, March 18-20, 2005. Pisa, Italy: IEEE Computer Society, 2005: 21-29..
Kang S, Cho C, Lee J, et al.: ROBHAZ-DT2: Design and integration of passive double tracked mobile manipulator system for explosive ordnance disposal. Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, August 2-6, 2003. Las Vegas, Nevada: IEEE Computer Society, 2003: 2624-2629.
Ryu D, Kang S, Kim M, et al.: Multi-modal user interface for teleoperation of ROBHAZ-DT2 field robot system. Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, September 28-October 2, 2004. Sendal, Japan: IEEE Computer Society, 2004: 168-173.
Ryu D, Hwang CS, Kang S, et al.:Wearable haptic-based multimodal teleoperation of field mobile manipulator for explosive ordnance disposal. Proceedings of the 2005 IEEE International Workshop on Safety, Security and Rescue Robotics, 6-9 June, 2005. Kobe, Japan: IEEE Computer Society, 2005: 75-80.
Ryu D, Hwang CS, Kang S, et al.: Teleloperation of field mobile manipulator with wearable haptic-based multi-modal user interface and its application to explosive ordnance disposal. J Mech Sci Technol. 2005; 10: 1864-1874. Available online in English translation at http://translate.google.com/translate?hl_en&sl_ko&u_ http://www.dbpia.co.kr/view/ar_view.asp%3Fpid%3D667%26isid% 3D30496%26arid%3D654321%26topMenu%3D%26topMenu1%3D &sa_X&oi_translate&resnum_10&ct_result&prev_/search%3F q%3Dhaptics,%2Brobot,%2Bteleoperation,%2BEOD%26hl%3Den% 26sa%3DG. Accessed December 30, 2007.
Zeng JJ, Yang RQ, Zhang WJ, et al.: Research on semi-automatic bomb fetching for an EOD robot. Int J Adv Robotic Systems. 2007; 2: 247-252.
Kron A, Schmidt G, Petzold B, et al.: Disposal of explosive ordnances by use of a bimanual haptic telepresence system. Proceedings of the 2004 IEEE International Conference on Robotics & Automation, April 26-May 1, 2004. New Orleans, LA: IEEE Computer Society, 2004: 1968-1973.
Petzold B, Kron A, Deml B, et al.: How to design a haptic telepresence system for the disposal of explosive ordnance. International IARP Workshop on Robotics and Mechanical assistance in Humanitarian Demining and similar risky situations, Brussels, Belgium, June 16-18, 2004.
Talon information: TALON Military Robots, EOD, SWORDS, and Hazmat Robots. Available at http://www.foster-miller.com/lemming. htm. Accessed February 21, 2008.
Glassmire J, O’Malley M, Bluethmann, et al.: Cooperative manipulation between humans and teleoperated agents. Proceedings of the 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, March 27-28, 2004. Chicago, IL: IEEE Computer Society, 2004: :114-120.
Graham-Rowe D: The cutting edge of haptics:Touch-based interfaces get to the point.Technology Review, published by MIT,August 25, 2006: 1-2.Available at http://www.technologyreview.com/read_article. aspx?id_17363&ch_biotech&sc_&pg_1. Accessed December 30, 2007.
Minsky MDR, Lederman SJ: Simulated haptic textures: Roughness. Proceedings of the ASME Dynamic Systems and Control Division 58, Atlanta, GA, 1996: 421-426.
Published
How to Cite
Issue
Section
License
Copyright 2007-2023, Weston Medical Publishing, LLC
All Rights Reserved
