ETD

Archivio digitale delle tesi discusse presso l'Università di Pisa

Tesi etd-05302018-134540


Tipo di tesi
Tesi di laurea magistrale
Autore
DI GUARDO, ANTONIO
URN
etd-05302018-134540
Titolo
Design and validation of a telemanipulation architecture for controlling a Schunk robotic hand through an underactuated exoskeleton
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
EMBEDDED COMPUTING SYSTEMS
Relatori
relatore Prof. Frisoli, Antonio
correlatore Dott. Solazzi, Massimiliano
correlatore Dott. Leonardis, Daniele
Parole chiave
  • hand
  • teleoperation
  • time-domain passivity
  • robotics
  • control exoskeleton
  • under-actuation
Data inizio appello
22/06/2018
Consultabilità
Non consultabile
Data di rilascio
22/06/2088
Riassunto
The author designs and implements the bilateral teleoperation architecture between an underactuated hand exoskeleton and a robotic anthropomorphic hand. The system is part of a more complex platform, called \textit{Centauro}, that comprehends a \textit{centauro}morphic robot designed to help rescue personnel in disaster scenarios such as an earthquake. A preexistent rehabilitation hand exoskeleton is adapted to accomplish teleoperation requirements. Firstly, it is proposed a kinematic mapping between the operator hand and the remote manipulator. Besides, it was developed an online calibration procedure of all human-dependent kinematic parameters. Signals acquisition and force control logic are embedded into a Cortex M4-based custom electronic shield that is cased on the exoskeleton itself. Next, a distributed software architecture based on ROS middleware was designed. In particular, application independent exoskeleton drivers were developed on Matlab Simulink platform. The author focus on optimising all factors that guarantee the teleoperation stability. In this context, particular attention was given to time domain passivity solutions. The optimisation of all critic factors drives all the hardware and the software design choices. Finally, for each system requirement, a validation procedure is proposed and performed. All tests confirm the device capabilities and robustness.
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