Special Issue on CRAS 2016; Guest Editors: Leonardo S. Mattos, Paolo Fiorini, Emmanuel Vander Poorten, Benoît Herman and Arianna MenciassiNo Access

Robot Integrated User Interface for Physical Interaction with the DLR MIRO in Versatile Medical Procedures

C. Schlenk

Institute of Robotics and Mechatronics, German Aerospace Center (DLR), 82234 Wessling, Germany

E-mail Address: christopher.schlenk@dlr.de

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T. Bahls

Institute of Robotics and Mechatronics, German Aerospace Center (DLR), 82234 Wessling, Germany

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S. Tarassenko

Institute of Robotics and Mechatronics, German Aerospace Center (DLR), 82234 Wessling, Germany

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J. Klodmann

Institute of Robotics and Mechatronics, German Aerospace Center (DLR), 82234 Wessling, Germany

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M. Bihler

Institute of Robotics and Mechatronics, German Aerospace Center (DLR), 82234 Wessling, Germany

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, and

T. Wuesthoff

Institute of Robotics and Mechatronics, German Aerospace Center (DLR), 82234 Wessling, Germany

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https://doi.org/10.1142/S2424905X18400068Cited by:8 (Source: Crossref)

Abstract

To enhance the capability of the DLR MIRO for physical human robot interaction (pHRI), six buttons were integrated as additional input interface along the robot structure. A ring of eight RGB-LEDs at the instrument interface informs the user as additional output interface about the robot’s state. The mechatronic design, which is transferable to other robots, adapts to the existing communication infrastructure of the robot and therefore offers real-time capability. Besides the interaction with the robot itself, it also allows the control of third party devices connected to its communication network. Both interfaces can be flexibly programmed e.g. in C++ or Simulink.

NOTICE: Prior to using any material contained in this paper, the users are advised to consult with the individual paper author(s) regarding the material contained in this paper, including but not limited to, their specific design(s) and recommendation(s).

Keywords:

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