OPHRIE robot
The developed overground physical Human-Robot Interaction (pHRI) robot, Ophrie, consists of an interactive robotic arm mounted on a wheeled mobile base. Designed specifically for overground physical interaction tasks, Ophrie was developed in this lab to enhance human-robot collaboration. The robot is capable of measuring human arm stiffness, a critical physical quantity that provides insights into human biomechanics during overground pHRI, as the human walks alongside the robot.
Doosan Robotic Arm
The Doosan Robotics M0609 is a versatile 6-axis collaborative robotic arm engineered for precision tasks. Renowned for its advanced safety features and intuitive operation, it is ideal for applications involving close human interaction. In our project, the M0609 facilitates precise and repeatable manipulations in challenging environments such as mines, enhancing the safety and efficiency of human-robot interactions with miners.
Hunter 2.0 Robot Base
The Agile X Hunter 2.0 is a robust unmanned ground vehicle with a 150 kg payload capacity, designed to navigate challenging terrains, making it ideal for mining applications. Its compatibility with the Robot Operating System (ROS) facilitates seamless integration of various sensors and custom algorithms, providing a flexible platform for developing and testing autonomous mining operations.
Vicon Motion Capture System
The Vicon motion capture system is a state-of-the-art technology used for accurately tracking and recording the movement of objects or individuals in 3D space. It employs high-speed cameras with reflective markers or sensors to capture motion data with exceptional precision for Physical Human- Robot Interaction and Human-Human Interaction.
AMTI 6-axis Force Plate
The AMTI 6-axis force plate is a highly precise measurement instrument designed to capture forces and moments across three-dimensional axes with exceptional accuracy, enabling comprehensive analysis of dynamic interactions. Operating at a sampling rate of 1000 Hz, it measures ground reaction forces and moments, which can then be used to calculate the center of pressure (CoP) of the participant.
Phantom Premium 6DOF and Touch X Haptic Device
The Phantom Premium 1.5 High Force/6DOF and Touch X devices from 3D Systems are advanced haptic interfaces. The Phantom Premium 1.5 High Force/6DOF, a high-end device, is specifically designed for precise force feedback and control across six degrees of freedom. It delivers powerful force output and advanced tactile interaction, making it ideal for applications in robotics, virtual reality, and teleoperation. Its robust and reliable design ensures accurate simulation of real-world forces, supporting detailed studies and advancements in haptics and Human-Robot Interaction.
