GEERHEAD
Cody’s XBOX 360 robot head containing the cameras and
laser sensor.
switch to stop the robot if necessary. The low stiffness in
the robot’s arms means that impact with the human
subject is lessened. The robot controller also limits the
downward force of the hand when wiping. Operators can
manually command the robot to stop if the force
measured in the robot’s wrist sensor exceeds a certain
value.
A Robot’s Touch
Cody’s robot torso.
the operator can choose the area of the subject that they
wish the robot to wipe down. Then, the robot performs the
wiping in a fully autonomous fashion.
A number of safety features are provided to keep
human subjects from harm when the robot is touching
them. The robot is mounted with a run stop button or kill
The robot starts the touching behavior by making
initial contact with the forearm, then moving the end
effector and towel along the forearm. In the experiment,
the researchers tested two hypotheses. First, the patient
will accept the robot-initiated touch more if it is seen as
instrumental to their care, rather than have it be affective
(comforting). Second, subjects will find the touch more
favorable when the robot gives them a verbal warning
first.
Resources
Cody robot video
www.digitallounge.gatech.edu/healthandeducation/
index.html?nid=64852
Georgia Tech Healthcare Robotics Lab
http://healthcare-robotics.com
The Segway, used for the robot’s base and
mode of transportation
www.segway.com
MEKA Robotics, source of Cody’s arms
http://mekabot.com
RX- 28 Robotis servo
www.trossenrobotics.com/dynamixel-rx-28-
robot-actuator.aspx
The Ubuntu Linux distribution used in Cody’s computers
www.ubuntu.com
The Python programming language official site
www.python.org
Cody’s Hokuyo range finder
www.hokuyo-aut.jp/02sensor/07scanner/utm_30lx.html
12 SERVO 06.2011