ABSTRACT
Various forms of wearable robotics challenge the notion of the human body, in that the robots render the acquired capabilities in physical forms. However, majority of such systems are designed for specific purposes, where rapidly changing environments pose a diverse set of problems that are difficult to solve with a single interface. To address this, we propose a modular hardware platform that allows its users or designers to build and customize wearable robots. The process of building an augmentation is simply to connect actuator and sensor blocks and attach them to the body. The current list of designed components includes servomotor modules and sensor modules, that can be programmed to incorporate additional electronics for desired sensing capabilities. Our electrical and mechanical connector designs can be extended to utilize any motors within afforded power, size, and weight constraints. We also show how our platform can be used in various applications, in addition to how the proposed design can be extended as well as challenges for future systems.
Supplemental Material
- Stratasys VeroClear material. http://www.stratasys.com/materials/polyjet/transparentGoogle Scholar
- Torres, C. IKO Creative Prosthetic System. https://vimeo.com/97877783Google Scholar
- Carrozza, M. C., Massa, B., Micera, S., Lazzarini, R., Zecca, M., and Dario, P. The development of a novel prosthetic hand-ongoing research and preliminary results. IEEE/ASME Trans. Mechatronics. Aug 2002.Google Scholar
- Clawson, J., Pater, J. A., Miller, A. D., Mynatt, E. D., Mamykina, L. No Longer Wearing: Investigating the Abandonment of Personal Health-Tracking Technologies on Craigslist. In Proc. UbiComp '15. Google ScholarDigital Library
- Clune, J., Mouret, J.B., Lipson, H. The evolutionary origins of modularity. Royel Society B. 2016.Google Scholar
- Clynes, M. E. and Kline, N. S. Cyborgs and Space. in Astronautics. Sep 1960.Google Scholar
- Follmer, S., Leithinger, D., Olwal, A., Hogge, A., and Ishii, H. inFORM: dynamic physical affordances and constraints through shape and object actuation. In Proc. UIST '13. Google ScholarDigital Library
- Gaver, W. Technology affordances. In Proc. CHI 91. ACM Press: NY (1991), 79--84. Google ScholarDigital Library
- Herr, H. Exoskeletons and orthoses: classification, design challenges and future directions, J. of NeuroEngineering and Rehabilitation. 2009.Google Scholar
- Kernbach, S., Meister, E., Scholz, O., Humza, R., Liedke, J., Ricotti, L., Jemai, J., Havlik, J., Liu, W. Evolutionary robotics: The next-generation- platform for on-line and on-board artificial evolution. IEEE CEC 2009. Google ScholarDigital Library
- Lazar, A., Koehler, C., Tanenbaum, J., Nguyen, D. H. Why We Use and Abandon Smart Devices. In Proc. UbiComp '15. Google ScholarDigital Library
- Leigh, S., and Maes, P. Body Integrated Programmable Joints Interface. In Proc. CHI '16. Google ScholarDigital Library
- Leigh, S., Maes, P. Morphological Interfaces: On Body Transforming Technologies. Alt. CHI '17. Google ScholarDigital Library
- Leithinger, D., Follmer, S., Olwal, A., Ishii, H. Physical telepresence: shape capture and display for embodied, computer-mediated remote collaboration. In Proc. UIST '14. Google ScholarDigital Library
- Lemley, B. Really Special Forces. Discover 25--26. 2002.Google Scholar
- Mathiowetz, V., Kashman, N., Volland, G., Weber, K., Dowe, M., Rogers, S. Grip and pinch strength: normative data for adults". Arch Phys Med Rehabil. 1985. http://www.ncbi.nlm.nih.gov/pubmed/3970660Google Scholar
- Nakagaki, K., Dementyev, A., Follmer, S., Paradiso, J.A., Ishii, H. ChainFORM: A Linear Integrated Modular Hardware System for Shape Changing Interfaces. In Proc. UIST '16. Google ScholarDigital Library
- Nakagaki, K., Follmer, S., Ishii, H. LineFORM: Actuated Curve Interfaces for Display, Interaction, and Constraint. In Proc. UIST '15. Google ScholarDigital Library
- Parietti, F., Asada, H., Chan, K., Bracing the Human Body with Supernumerary Robotic Limbs for Physical Assistance and Load Reduction. In Proc. ICRA '14.Google Scholar
- Raffle, H. S., Parkes, A. J., Ishii, H. Topobo: a constructive assembly system with kinetic memory. In Proc. CHI '04. Google ScholarDigital Library
- Romanishin, J. W., Gilpin, K., Rus, D. M-Blocks: Momentum-driven, Magnetic Modular Robots. In Proc. IROS '13.Google Scholar
- Roudaut, A., Krusteva, D., McCoy, M., Karnik, A., Ramani, K., Subramanian, S. Cubimorph: Designing Modular Interactive Devices. In Proc. ICRA '16.Google Scholar
- Sekiguchi, D., Inami, M., Tachi, S. Robotphone: RUI for interpersonal communication. CHI EA '01. Google ScholarDigital Library
- Sprowitz, A., Pouya, S., Bonardi, S., Van den Kieboom, J., Moöckel, R., Billard, A., Ijspeert, A. J. Roombots: reconfigurable robots for adaptive furniture. In Proc. Computational Intelligence Magazine. 2010. Google ScholarDigital Library
- Wu, F. Y. and Asada, H. Bio-Artificial Synergies for Grasp Posture Control of Supernumerary Robotic Fingers. In Robotics: Science and Systems. 2014. http://hdl.handle.net/1721.1/88457Google Scholar
- Wu, F. Y. and Asada, H. "Hold-and-Manipulate" with a Single Hand Being Assisted by Wearable Extra Fingers. In Proc. ICRA '15.Google Scholar
- Zykov, V., Mytilinaios, E., Adams, B., Lipson, H. Robotics: Self-reproducing Machines. Nature Brief Communications. 2005.Google Scholar
Index Terms
- Morphology Extension Kit: A Modular Robotic Platform for Physically Reconfigurable Wearables
Recommendations
Hand Development Kit: Soft Robotic Fingers as Prosthetic Augmentation of the Hand
UIST '17 Adjunct: Adjunct Proceedings of the 30th Annual ACM Symposium on User Interface Software and TechnologyRecent developments in wearable robots and human augmentation open up new possibilities of designing computational interfaces integrated to the body. Particularly, supernumerary robot is a recently established field of research that investigates a ...
Morphology Extension Kit: A Modular Robotic Platform for Customizable and Physically Capable Wearables
CHI EA '17: Proceedings of the 2017 CHI Conference Extended Abstracts on Human Factors in Computing SystemsRobotic and shape-changing interfaces hint at a way to incorporate physical materials as extensions for human users, however, rapidly changing environments pose a diverse set of problems that are difficult to solve with a single interface. To address ...
ChainFORM: A Linear Integrated Modular Hardware System for Shape Changing Interfaces
UIST '16: Proceedings of the 29th Annual Symposium on User Interface Software and TechnologyThis paper presents ChainFORM: a linear, modular, actuated hardware system as a novel type of shape changing interface. Using rich sensing and actuation capability, this modular hardware system allows users to construct and customize a wide range of ...
Comments