Reachy, a 3D-Printed Human-Like Robotic Arm as a Testbed for Human-Robot Control Strategies

To this day, despite the increasing motor capability of robotic devices, elaborating efficient control strategies is still a key challenge in the field of humanoid robotic arms. In particular, providing a human "pilot" with efficient ways to drive such a robotic arm requires thorough testi...

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Published inFrontiers in neurorobotics Vol. 13; p. 65
Main Authors Mick, Sébastien, Lapeyre, Mattieu, Rouanet, Pierre, Halgand, Christophe, Benois-Pineau, Jenny, Paclet, Florent, Cattaert, Daniel, Oudeyer, Pierre-Yves, de Rugy, Aymar
Format Journal Article
LanguageEnglish
Published Switzerland Frontiers Research Foundation 14.08.2019
Frontiers
Frontiers Media S.A
Subjects
3D printing
Arm
Computer Science
Design
Electroencephalography
humanoid robot
Interfaces
International conferences
Kinematics
Multimedia
open-source
Performance evaluation
Product development
Professional soccer
Prostheses
Rehabilitation
rehabilitation engineering
research testbed
Researchers
robotic arm
Robotics
Robotics and AI
Robots
Virtual reality
Wrist
France
rehabilitation engineering
open-source
research testbed
humanoid robot
3D printing
robotic arm
Open-source
Robotic arm
Rehabilitation engineering
Research testbed
Humanoid robot
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Abstract To this day, despite the increasing motor capability of robotic devices, elaborating efficient control strategies is still a key challenge in the field of humanoid robotic arms. In particular, providing a human "pilot" with efficient ways to drive such a robotic arm requires thorough testing prior to integration into a finished system. Additionally, when it is needed to preserve anatomical consistency between pilot and robot, such testing requires to employ devices showing human-like features. To fulfill this need for a biomimetic test platform, we present Reachy, a human-like life-scale robotic arm with seven joints from shoulder to wrist. Although Reachy does not include a poly-articulated hand and is therefore more suitable for studying reaching than manipulation, a robotic hand prototype from available third-party projects could be integrated to it. Its 3D-printed structure and off-the-shelf actuators make it inexpensive relatively to the price of an industrial-grade robot. Using an open-source architecture, its design makes it broadly connectable and customizable, so it can be integrated into many applications. To illustrate how Reachy can connect to external devices, this paper presents several proofs of concept where it is operated with various control strategies, such as tele-operation or gaze-driven control. In this way, Reachy can help researchers to explore, develop and test innovative control strategies and interfaces on a human-like robot.
AbstractList To this day, despite the increasing motor capability of robotic devices, elaborating efficient control strategies is still a key challenge in the field of humanoid robotic arms. In particular, providing a human “pilot” with efficient ways to drive such a robotic arm requires thorough testing prior to integration into a finished system. Additionally, when it is needed to preserve anatomical consistency between pilot and robot, such testing requires to employ devices showing human-like features. To fulfill this need for a biomimetic test platform, we present Reachy, a human-like life-scale robotic arm with seven joints from shoulder to wrist. Although Reachy does not include a poly-articulated hand and is therefore more suitable for studying reaching than manipulation, a robotic hand prototype from available third-party projects could be integrated to it. Its 3D-printed structure and off-the-shelf actuators make it inexpensive relatively to the price of an industrial-grade robot. Using an open-source architecture, its design makes it broadly connectable and customizable, so it can be integrated into many applications. To illustrate how Reachy can connect to external devices, this paper presents several proofs of concept where it is operated with various control strategies, such as tele-operation or gaze-driven control. In this way, Reachy can help researchers to explore, develop and test innovative control strategies and interfaces on a human-like robot.
To this day, despite the increasing motor capability of robotic devices, elaborating efficient control strategies is still a key challenge in the field of humanoid robotic arms. In particular, providing a human "pilot" with efficient ways to drive such a robotic arm requires thorough testing prior to integration into a finished system. Additionally, when it is needed to preserve anatomical consistency between pilot and robot, such testing requires to employ devices showing human-like features. To fulfill this need for a biomimetic test platform, we present Reachy, a human-like life-scale robotic arm with seven joints from shoulder to wrist. Although Reachy does not include a poly-articulated hand and is therefore more suitable for studying reaching than manipulation, a robotic hand prototype from available third-party projects could be integrated to it. Its 3D-printed structure and off-the-shelf actuators make it inexpensive relatively to the price of an industrial-grade robot. Using an open-source architecture, its design makes it broadly connectable and customizable, so it can be integrated into many applications. To illustrate how Reachy can connect to external devices, this paper presents several proofs of concept where it is operated with various control strategies, such as tele-operation or gaze-driven control. In this way, Reachy can help researchers to explore, develop and test innovative control strategies and interfaces on a human-like robot.To this day, despite the increasing motor capability of robotic devices, elaborating efficient control strategies is still a key challenge in the field of humanoid robotic arms. In particular, providing a human "pilot" with efficient ways to drive such a robotic arm requires thorough testing prior to integration into a finished system. Additionally, when it is needed to preserve anatomical consistency between pilot and robot, such testing requires to employ devices showing human-like features. To fulfill this need for a biomimetic test platform, we present Reachy, a human-like life-scale robotic arm with seven joints from shoulder to wrist. Although Reachy does not include a poly-articulated hand and is therefore more suitable for studying reaching than manipulation, a robotic hand prototype from available third-party projects could be integrated to it. Its 3D-printed structure and off-the-shelf actuators make it inexpensive relatively to the price of an industrial-grade robot. Using an open-source architecture, its design makes it broadly connectable and customizable, so it can be integrated into many applications. To illustrate how Reachy can connect to external devices, this paper presents several proofs of concept where it is operated with various control strategies, such as tele-operation or gaze-driven control. In this way, Reachy can help researchers to explore, develop and test innovative control strategies and interfaces on a human-like robot.
To this day, despite the increasingmotor capability of robotic devices, elaborating efficient control strategies is still a key challenge in the field of humanoid robotic arms. In particular, providing a human “pilot” with efficient ways to drive such a robotic armrequires thorough testing prior to integration into a finished system. Additionally, when it is needed to preserve anatomical consistency between pilot and robot, such testing requires to employ devices showing human-like features. To fulfill this need for a biomimetic test platform, we present Reachy, a human-like life-scale robotic arm with seven joints from shoulder to wrist. Although Reachy does not include a poly-articulated hand and is thereforemore suitable for studying reaching thanmanipulation, a robotic hand prototype from available third-party projects could be integrated to it. Its 3D-printed structure andoff-the-shelf actuators make it inexpensive relatively to the price of an industrial-grade robot. Using an open-source architecture, its design makes it broadly connectable and customizable, so it can be integrated into many applications. To illustrate how Reachy can connect to external devices, this paper presents several proofs of concept where it is operated with various control strategies, such as tele-operation or gaze-driven control.In this way, Reachy can help researchers to explore, develop and test innovative control strategies and interfaces on a human-like robot.
To this day, despite the increasing motor capability of robotic devices, elaborating efficient control strategies is still a key challenge in the field of humanoid robotic arms. In particular, providing a human ``pilot'' with efficient ways to drive such a robotic arm requires thorough testing prior to integration into a finished system. Additionally, when it is needed to preserve anatomical consistency between pilot and robot, such testing requires to employ devices showing human-like features. To fulfill this need for a biomimetic test platform, we present Reachy, a human-like life-scale robotic arm with seven joints from shoulder to wrist. Although Reachy does not include a poly-articulated hand and is therefore more suitable for studying reaching than manipulation, a robotic hand prototype from available third-party projects could be integrated to it. Its 3D-printed structure and off-the-shelf actuators make it inexpensive relatively to the price of an industrial-grade robot. Using an open-source architecture, its design makes it broadly connectable and customizable, so it can be integrated into many applications. To illustrate how Reachy can connect to external devices, this paper presents several proofs of concept where it is operated with various control strategies, such as tele-operation or vision-driven control. In this way, Reachy can help researchers to explore, develop and test innovative control strategies and interfaces on a human-like robot.
Author Mick, Sébastien
Lapeyre, Mattieu
Halgand, Christophe
de Rugy, Aymar
Paclet, Florent
Cattaert, Daniel
Benois-Pineau, Jenny
Rouanet, Pierre
Oudeyer, Pierre-Yves
AuthorAffiliation 4 Inria Bordeaux Sud-Ouest , Talence , France
5 Centre for Sensorimotor Performance, School of Human Movement and Nutrition Sciences, University of Queensland , Brisbane, QLD , Australia
2 Pollen Robotics , Bordeaux , France
3 Laboratoire Bordelais de Recherche en Informatique, UMR 5800, CNRS & Univ. Bordeaux & Bordeaux INP , Talence , France
1 Institut de Neurosciences Cognitives et Intégratives d'Aquitaine, UMR 5287 CNRS & Univ. Bordeaux , Bordeaux , France
AuthorAffiliation_xml – name: 3 Laboratoire Bordelais de Recherche en Informatique, UMR 5800, CNRS & Univ. Bordeaux & Bordeaux INP , Talence , France
– name: 1 Institut de Neurosciences Cognitives et Intégratives d'Aquitaine, UMR 5287 CNRS & Univ. Bordeaux , Bordeaux , France
– name: 5 Centre for Sensorimotor Performance, School of Human Movement and Nutrition Sciences, University of Queensland , Brisbane, QLD , Australia
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Keywords rehabilitation engineering
open-source
research testbed
humanoid robot
3D printing
robotic arm
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Rehabilitation engineering
Research testbed
Humanoid robot
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Snippet To this day, despite the increasing motor capability of robotic devices, elaborating efficient control strategies is still a key challenge in the field of...
To this day, despite the increasingmotor capability of robotic devices, elaborating efficient control strategies is still a key challenge in the field of...
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StartPage 65
SubjectTerms 3D printing
Arm
Computer Science
Design
Electroencephalography
humanoid robot
Interfaces
International conferences
Kinematics
Multimedia
open-source
Performance evaluation
Product development
Professional soccer
Prostheses
Rehabilitation
rehabilitation engineering
research testbed
Researchers
robotic arm
Robotics
Robotics and AI
Robots
Virtual reality
Wrist
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Title Reachy, a 3D-Printed Human-Like Robotic Arm as a Testbed for Human-Robot Control Strategies
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Volume 13
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