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NATIONAL AERONAUTICS AND SPACE AOYINISTRATION

JET PROPULSION LAIORATO IWSflTUtE OF TtCMWOL ?ASA DEW A, CAII FOR W I A

J8MV 1,1975

PREFACE

The work described in this report was performed by the Advanced Technical Studies Office of the Jet Propulsion Laboratory.

JPL Technical Memorandum 33-721 iii

CONTENTS

Introduction ...... 1

Major Problem Areas ...... 1

Command inputs ...... 2

Sensory Feedback ...... 4 Autonomous Capability ...... 4

Performance ...... 4 Overview of Teleoperator/Robot Work at JPL ...... 4 A. Manipulator Systems at JPL ...... 4

B. Remote Control Experiments at JPL ...... 7 Aids to the Severely Handicapped ...... 10 Conclusions ...... 13 References ...... 13

TABLE

1. Estimate of disabled persons in the USA as of 1971 ...... 2

FIGURES

1. Schematic of teleoperator/robot system with essential elements and communication links ...... 5 2. JPL KOELSCH robot ...... 6

3. N EVADA/CUf.V system including manipulator and control station with stereo and mono tv display ...... 4. JPL/AMES ARM system ......

5. Humanoid hand attached to JPL/AMES ARM . . , . . , , . .

6. Humanoid hand with control interface and different grasping positions ...... 7, Proximity sensor concept ...... 8. Mini-Proximity Sensor ...... pREc'mm~PAGE BUN^ mm jp~Technical Memorandum 33-721 V 9 . Laboratory set-up for system performance experiments ... 10 10. Proximity sensor arrangements ...... 11 11. Typical problem of terminal approach and grasping ...... 11 12. Schematic of possible arrangements of mini-proximity sensors and touch sensors to improve prehension capability of artificial hands ...... 11

i 3 . Powered wheelchair with voice controlled manipulator .... 12 14. Powered wheelchair with manipulator and tv system remotely voice controlled ...... 13

vi JPL Technical Memorandum 33-721 T E LEdPE RAT OR/ ROBOT TECHNOLOGY CAN HELP LOLVE BIOMEDICAL PROBLEMS

Ewald Heer Antal K Bejczy Jet Propulsion Laboratory California Institute of Technology Pasadena, California 9 1103

-.-Abstract In 1970 NASA management initiated a program for the development of teleoperator and robot Teleoperator and roL 3t technology developed in recent years, particularly in space related pro- technology for space explorations and applications. grams. appears to offer the possibility to apply Teleoperators have been defined as man-machine these techniques to the benefit for the severely systems which extend man's sensory, manipulative handicapped (e. g. , quadriplegics) giving them and cognitive capabilities to remote places. The greater self reliance and independence. After terms robot and robot system are used for the identifying related needs in the , remotely controlled device of a teleoperator if it major problem area8 in the development of pros- has autonomous motion or handling capabilities thtses and remotely controlled devices for the (Ref. 3). A review of related technology and po- handicapped are briefly discussed, and the paral- tential applications in the space program has been lelism with problems in the development of tele- given in Ref. 4. In addition, 41 articles in Ref. 5 operator/robots identified. A short description is present various aspects of teleoperator and robot applications and developments in space, in industry, provided of some ongoing space and prosthetics related research and development work at JPL. under the sea. and in bioengineering. For instance, Finally. a brief description of specific ongoing and Peizer (Ref. 6) discusses certain application re- quirements for the spinal cord injured patient, and projected developments in the area of remotely controlled devices (wheelchairs and manipulators) Rasor and Spickler (Ref. 7) project future teleop- identifies possible near term accomplishments erator / robot applications in microsurgery, remote surgery, and remote health care. within the reach of the present state-of-technology. Introduction A project jointly sponsored by the National Aero- ~~ti~hand Space Administration and the Veterans In 1968 the Department of Health. Education and Adrrinistration has recently been initiated at the Welfare reported that the rates of incidents of para- Jet Propulsion Laboratory. The primary objective lyris in the United States was 8. I per 1000 popula- of this project is to apply teleoperatorl robot tech- tion. This translates to a total of about 1. 7 million nology to the rehabilitation of amputees and spinal paralyzed persons in the country. It was further cord injured patie-ts with severe loss of motor, reported that 60. 9% of paralytics are severely manipulative, and sensory capabilities in the upper limited in their capability to perform basic living and/or lower extremities. This paper attempts to activities. Thus, 1. 04 million paralyzed individuals give a systematic description of some major pro- were at that time severely handicapped (Ref. 1). blem areas with emphasis of those requiring robot and teleoperator technology and to discuss related In a study through the Office of Exploratory work at the Jet Propulsion Laboratory. Research and Assessment of the National Science Foundation (Ref. 2). it has been determined Major Problem Areas that almost 10% of the total U. S. population is disabled. Table 1 indicates that nearly 3 million To date conceivable substitutes for organs of the of these disabled Americans could be helped human body are biological (transplantations) or significantly with current rehabilitation technology. artificial (prostheses). Only prosthetic devices Many of the remaining 16 million are rehabilitable are of concern here. Their development problams to a degree that would allow them to become pro- can be categorized into four major areas: (1) ma- duct ive individuals. Their rehabilitation would terial related problems including hiocompatibility. release trained therapists and aides to work with strength, stiffness, weight, and wear resistance; the more seriously disabled individuals who may (2) energy related problems including storage, con- not be rehabilitable with current technology. The version, and transmission of the required energy question arises therefore how present techno- and power; (3) design related problems including logical capabilities and recent developments can be determining the important functional reqitirements channelled and applied so as to help solve some for the prosthetic device without causing undue related biomedical problems. complications in t.rle configurational design and

JPL Technical Memorandum 33-721 1 Table 1 Estimate of disabled persons in the USA as of 1971 (Ref. 2)a

Number that Tot& Number Number of Could Be Disease in N@W Percent Helped With Number Of Rehabilitation Patient Year Rehabilitable Current Category Patients Centers Technology

- ~~ Stroke 2,000,000 250,000 500,000 60 400,000

Cerebral Palsyb 550,000 ? 50.000 45 500,000 MuMple Sclerosis 500,000 ? 50,000 ? 50.000

spinri Injuries' loo, 000 1,000 10,000 95 100,000 (80 to jobs)

Amputees 350,000 ? ? 100 350,000

Diabetes 3,000,000 ? ? ? 60U. 000

Rheumatoid 13,000,000 ? ? ? 1,000,000 Arthritis Totals 19,500,000 - - 3,000.000

%timates supplied by Dr. James Reswick, Rancho Lor Amigos Hospital, Downey, Calif., assembled bfrom sources ranging from "hard" to "soft. It Orders of magnitude appear correct. 1956 figures CLiberty Mutual estimates total cost for each tudriple ic patient ranges from f250,OW to $35r 300; direct medical treatment C08tS range from $d,OOO to f35.000 per patient, the remaining costtp cover such things as workman's compensation, extended care, etc.

functional control; and (4) control related pro- attached manipulators or self-mobile robots with Mems including sensing, deciding (either by man manipulators remotely controlled by the patient or computer, or both), command actuating, and are under development or are planned to be command execution (either in an open loop or developed. closed loop fashion).

The development of upper extremity prostheses and remotely controlled aids for the spinal cord The relative importance of each problem area injured brings together many of the essential areas from a development point of view depends on the that cybernetic systems (teleoperator / robot prosthetic device. While material and energy systems) must deal with to become practical. The related problems are of prime importance for following gives primary attention to problem areas artificial hearts, lungs, and kidneys, design and of upper extremity prostheses and remotely con- control related problems are of prime importance trolled devices (RCD). for artificial legs, arms, and hands. In particular the development of substitutes for the loss of the upper extremities demands the highest level of Command Inputs - The handicapped has only a design and control technology, and completely limlted bit rate of information available for control satisfactory solutions have as yet not been fotnd. and command purposes. Estimates range from It is expected that because of the many similarities 50 bit8 for reading aloud to about 11 bits for of the functional requirements, telecperator and ordinary motor activities. Amputees using non- robot technology including development s in mani- manual outputs on the surface of the skin may pulators, sensors, computers, machine intel- achieve an output of the order of about 5 bits per ligence, man-machine communication, etc. will second. One of the major problems here is to help solve these most complex bioengineering determine the appropriate level and type of infor- problems. Another area expected to benefit even mation exchange between man and machlne. more directly from teleoperator and robot techno- Because of the individual, pathological and psycho- logy is the development of aides for the spinal cord logical aspects of each case (in contrast to the injured handicapped (paraplegics and quadri- man-machine interface with a standard healthy plegics) potentially providing to them mobility and/ person), thir man-machine interface requires the or manipulative capability and hence greater df greatest c md attention to achieve patient sufficiency. For instance, wheel chairs with acceptance eventual success.

JPL Technical Memorandum 33-721 Sensory Feedback - Adequate feedback from the demonst rat e through experimental sirnulat ion s the prosthesis or RCD of its position and motion is of feasibility of executing complex tasks in space significant importance. Today the available feed- under remote control with and without autonomous back is primarily visual. For upper and lower capabilities of the RCD. The technology, techni- extremity prosthesis, feedback occurs also through ques, and procedures developed in this program the force the prosthesis places on the stump or on are with appropriate modifications directly appli- the body. Feedback consisting of coded stimulation cable to the development of upper extremity of the stump or other parts of the body requires prostheses and, in particular, to the development learning on the part of the patient, and the use of of RCD's for helping the spinal chord injured the remaining afferent nerve signals presumes a quadriplegic to regain at least some of his lost breakthrough in nerval tapping techniques. In gen- self sutficiency. eral, the transmission of feedback information other than visual has the same bit rate limitations Fikure 1 shows schematically the essential quoted above for command inputs. elements of a teleoperator/robot system. The loop of information flow through the system (task space/ Autonomous Capability - The autonomous capa- environment - sensors - c :;?lays - human oper- barties required for the prosthesis or RCD are ator - control input - actuators - effectors - task related directly to the amount of information the spaceIenvironment) is in principle the same whe- person can exchange with the artifact. Going ther the application is in earth orbital space, on upward through the hierarchy of organization of the moon. on Mars, an arm prosthesis, or a re- man-machine symbiotic systems, the amount of motely controlled device IRCD) for the handicapped. hformation that can be transmitted to the machine However, the mans of information transmission decreases to the above quoted values. The level of and the distances of transmission may be vastly required autonomous capabilities for the prosthesis different. Also, the level of required or desired or the RCD increases correspondingly for the same independent action of the effectors as determined functional performance, requiring the application by the "computer" may vary considerably, and the of technologies derived from machine intelligence prominence of certain system elements may be and adaptive robot systems developments. different from case to case. Performance - The qua:ity of performance of Overview of 1-eleoperatoriRobot Work at JPL prostheses or RCD's is strongly dependent on the functional designs. No reliable quantititive The Teleoperatorl Robot studies at JPL have criteria and standards have as yet been developed. been initiated in 1971 with the objectives (a) to Prostheses should as much as possible replace the identify advanced research and development re - healthy limb. For instance, arm prostheses quirements. (b) to establish through laboratory should be light weight (less than 3 Kg), should be simulations feasibility of advanced space explor- able to generate high torques (about 70 N, m elbow ation concepts, and (c) to demonstrate and evaluate flexion), should provide high angular accelerations the performance of required teleoperatorl robot (reveral hundred rad/ secz), and should provide functions. Various sets of remotely controlled rise times of a few milliseconds. With presently manipulators equipped with different terminal available hardware the level of performance one devices ("hands"), terminal sensors, man-machine can expect from upper extremity prostheses are interface display and command capabilities, and heavily constrained with respect to action time and different levels of remote autonomous capabilities precision execution. In addition, the healthy limb have been and are being investigated and developed operates largely without conscious control, and at JPL. therefore prostheses and RCD' s should be designed to provide such capability to the greatest extent In this Section, a short description is presented possible. They should be task oriented, imitative of remote control experiments using manipulator of human performance (not necessarily required systems available at JPL. These experiments and for RCD's), adaptive to the sensed external man-machine breadboard efforts are directed to environment, sensitive to modifications in the evaluate the performance of various control con- goals of the human operatcr (amputee or spinal cept s including computer - aided super visor y con - chord injured persori), able tt learn tasks while trol for the remote control of manipulators. The these are being performed * ler visual feedback computer-aided supervisory control mode (Ref. 8) control, and sufficiently "intelligent" to provide to helps to overcome some of the operational prob- the handicapped the required help in a truly man- lems caused by a pt ysical barrier between the machine symbiotic manner. operator and the remote device by utilizing the best available capabilities of man and machine within an This leads one to consider an approach to the integrated control system. rolution of these problems that aims at developing prorthetic devices and remotely controlled aides A. Manipulator Systems at JPL for the handicapped which can accept higher level commands and which can independently perform The JPL KOELSCH Robot system (Fig. 2) con- some of the desired detailed tasks unless inter- tains two identical arms mounted on a common rupted by a voluntary override. shoulder link supported by a vertical post. The post is fixed to a small tread vehicle. The com- Motivated by apace application requirements, mon shoulder link can be rotated about and raised JPL is engaged in a teleoperatorlrobot research along the vertical axis cZ!he post. Relative to the and development program with the objective to common shoulder lir.k, each arm has six basic JPL Technical Memorandum 33-721 3 Figure 1. Schematic of Teleoperator/Robot !System with Essential Elements and Communication Links motion capabilities ( six deg rees- of - f r eedom) : vehicle, two TV cameral for rtereo vftaring. a horisontal shoulder rotation, vertical shoulder separate TV camera for monodisplay. and a swing, vertical elbow swing, vertical wrist swing, remote control station with RF or hardwired link hand rotation, and hand grip. All joint motions to the vehicle-arm-TV system. This hydraulically are independent and can be operated individually or pawered arm has six degrees-of-freedom. plus rimult.neausly in any direction. The servo system opening and closing the hand mechanism. The has bath manual and computer control modes. The essential and novel feature of this manipulator manual control is conventional rate control for (Ref. 9) is that it provides true linear edenrion by each joint drive. The computer provides position the use of an idler gear of twice the radius of a coatrol, but the drive servo loops are analog. forearm drfve gear. Extension is achieved by Manual and computer control moder of operation moving the upper arm with respect to the idler. ere mutually exclusive. For remote control The linkage action causea the course traveled by experiments, the Koelrch manipulator is equipped the wrist during extension to be a straight line with a dual TV system mounted on the common passing through both the azimuth and elevation shouidcr link. The TV base has pan and tilt axes. Elevation is achieved by rotating the whole mechanisms. The identification of object coordi- mechanism about the axis of the idler. Azimuth is nates is performed by the ure of a cursor in the achieved by rotation about a vertical axis through video display frame. Several sets of control the idIer. A double parallelogram added to the experiments have been performed using the JPL linkage eliminates wrirt disorientation during KOELSCH Robot arm also using proximity aensors changes in elevation and extension of the arm. in both manual .ad computer control modes. Thur, the arm performr the function of positioning the hand, without disconnecting it, in a spherical The NEVADA/CURV system (Fig. 3) consists of coordinate system. Tha arm has a high section the CURV Linkage Arm mounted on a torret which modulus which makes it rigid but lightweight. The can be rotated and elevated relative to the carrier existing prototype can handle loads correrpondhg

4 JPL Technical Memorandum 33-721

Prar(mup co&rol utiilser a prarimity amtoor tr a mdei of ?mote control rrpetimsatr, thrr dercribod in RaL 15. The rmror concept 16 JPt/AMES ARM is utiltred fa the master-riave Dtktrtrrred in FQ. 7. Tlia rentor ir a 0rnrlL controt mode. The LomponenPr of the expati- chtro-optic4 devieo with a small alltpoold- mental act-up are shown in Fig. 9. The mater iM reasltiw walmme wrmananth focused at a &rm ii in tho ran Ote cmtrof 6t.ttao. camoieteiv

the information processing ability of the operator should be supported by appropriate technical information processing using for instance. a spechi purpose miaicoquter. it is d.0 required in both cases that the decision load be optimally shucd -n the operator and the external coetroller.

It is interesting to note that a severely disabled person CUI relatively well (in CMpUiIoa to his Bucdicrp) describe verbally ha to proceed to perform a manual task using a prosthatic armlhand system. The we.tiOa io n9.r how to design 8 cantroi '*e'' for utificid um/hurd control Figure 13. hered Wheelchair with Voice which is artVal rad simple for a human md easy Controlled -Madplator for a proathetic machime using, for instroce. a -we cornnuad system The design and applica- Both the manipuiator and the rheelchair are tiaa of a natural ud simpie caatrol qswe"for without automatic coatrol c.prbiies. The prosthetic um/bterd caatrol clearly invokes the rtwectuir rxddity is controhd through a mxmot.tlOa of a seperwisory cartmi system. comventioad tro chuurel bidirectional chin-switch (not indicated in Fw. 13). The manipulator is a One of the primary needs of the severely burdi- sir degree-of-freedom mechanism with the motion capped (e. g. quadriplegics) is reach and mani- capabilities: horixontal ab- rod ad&ction.shoulder wivecrprbi. Patients relegated to wheel- flexion and extension. telescopic extension. supin- chairs are limited in their reach capability by the ation and pronation. wrist flexion and extension, mobility of the chair urd the chair coafiuration urd grasping. The motions are voice controlled 88 it 8ffuts umextension. Add to these b8sic using an adapthe voice analysis and recognition limitathas due to the chair,t& dditioad con- system with approximately 32 words vocabulary rtraints placed on wee., quadriplegics, stroke input. Apprapriate coding enables the generaticn victims, and other persons deficient in limbs or of all present command requirements to have in limb hmctioa. and the rewh rad manipulative the nuaigdator perform simple routine tasks. capnbilities nt such persons become severely However. this requires a certain training period wed. The capability for extended or enhanced during which the voice recognition system adapts reach serves not dythe need for obje rccessi- to the peculiarities of the patient's voice and bility, but also serves the primary need of the pronmmciation. and the patient learns to speak the hdi;.ppcd, the need for independence of action. "hnguage" the machine understands. A detailed As more objects in the environment become description of the technical syatem characteristics accessible (and consequently usable) by disabled dlIbe included in a subsequent publication. persons, the requirement for assistance decreases. consequently reducieg their dependence An extension of this voice controlled manipulator on others. system is presently under consideratior. and entirely within present technological capabilities. The prablcm to be 8ttacked is the loss of reach In this extended system. the patient commands the capability prevalent in persons confined to wheel- maniplator sequentially through a set of desired chairs or beds. These persoas may also be motions which ir. total constitute an entire desired severely limited in their -loch ability due to operation. as e. g feeding operation The paralysis, deformation or deficiency in one or sequence of these motions is then stored by the both rrpper limbs. A total of 85% of the important, patient as a computer program in the memory of everyday tasks identified (Ref. 1) require elbow a minicomputer after the patient is satisfied that flexion urd extension, the basic constituents of the operation is being executed to his sitisfaction arm reach. Almost all tasks (94%) require At the patient's disgres =ion. the operation can prehension or grasp of an object. To the degree then be recalled by a phrase of coded words In that these objects are not located in close proxi- this manner, the handicapped rill be able to mity to the handicappea person. he will be "teach" the machine a whole set of stored opera- required to maneuver rndlor reach to acquire tions which can be changed, erased. or augmented them, or he will be dependent 0'1 someone else to serve his individual needs as he sees them to retrieve them for him. The use of teteoperators!robots as lunar or Based on the results of the investigations and Mars surface roving vehiclcs remotely controlled developments described in the previous Sec*ion. from Earth suggests in certain cases a similar an applications program has beep initiated to approach in the development of remotely controlled develop appropriate aids for the severely handi- aids for the handicapped A first step in this capped using available teleqerator I robot technol- direction is illustrated in Fig 14 If the patient ogy. As a first step, a powered multipurpose desires to remain in bed a TV camera (or two TV manioulator is developed and will be mounted on cameras for stereo capability) can be attached to a standard wheelchair as schematically indicated the arm rests by means of an appropriate in Fig. 13. structural frame The TV display and the voice

JPL Technical Memorandum 33-721 11 Figure 14. Powered Wheelchair with Manipulator and TV System Remotely Voice Controlled control input remain with the patient at his bed this may result in the rejection of the device by site Both the wheelchair and the manipulator the patient and hence in failure of a well intentioned motions are remotely voice controlled by the project. patient. The communication between the patient References ard the wheelchair is provided by a RF link enabling the patient to direct the "robot servant" 1. Malone. T. B., Deutsch, S., Rubin, G , Shenk, to perform simple tasks in locations out of direct S. W. , "Applications of Space Teleoperator visual access. lnvestigations are presently under Technology to the Problems of the Hzndicapped, I' way to define requirements and to establish Technical Report prepared for NASA-OT U, feasibility for future implementation of a working July 1973 system suitable for clinical evaluation. 2. Alexander, A. D., "A Survey Study of Tele- Conclusions onerators,-r-- -- and Remote Svstems Technology'' in Remotely Manned Systems - The developments of technology and techniques Exploration and Operation in Space, E. Heer, in the a?ea of space teleoperatorlrobots intro- Ed., California Institute of Technology Publ., duces new possibilities in the development of Pasadena 1973 prostheses and aids for the severely handicapped. This is a consequence of the similarities of many 3. Heer, E., "Remotely Manned Systems for of the control and manipulative requiremeqts Exploration and Operation in Space-An Overc imposed on the system and the system components view, 'I JPL Internal Document 760-0 1, in both the space and prosthetics related areas. July 1, 1972 The primary differences lie in the man-machine interface on the one hand and the patient-controlled 4. Deutsch, S. and lleer. E., "Manipulator device interface on the other hand. While for Systems Extend Man's Capabilities in Space" space (and other) applications this interface is Astronautics and Aeronautics, June 1972 designed for the average (or above average) healthy person in the rehabilitation area; it 5. Heer, E. Editor, "Remotely Manned Systems - requires individual treatment taking account of the Exploration and Opeyation in Space" California peculiarities of each case. Failure tn recoRnitc Institute oi Technology Fhbl., Pasadena lc(73. 12 JPL Technical Memorandum 33-721 6. Peizer, E., "Manipulator Systems in the 13. Dobrotin, B.M.. Scheinman, V.D., "Design Treatment of the Spinal Cord Injured Patient, " of a Computer Controlled Manipulator for in Ibid. Robot Research", Proceedings of the Third International Joint Conference on Artificial 7. Rasor, N.S. and Spickler, J. W., "Endocorpo- Intelligence. Stanford. Calif. August 1973, real Surgery usiag Remote Manipulators, " pp. 291-297. in aid.

8. Sberidan, T.B.. and Ferrell. W.R., "Human 14. Lewis, R.A., Bejczy. A.K., "Planning Control of Remote Computer-Manipulators, Considerations for a Roving Robot with First Joint International Conference on Arm, " Proceedings of the Third International Artificial Intelligence, Proceedings. Joint Conference on Artificial Lntelligence. Washington, D.C.. May 1969. Stanford, California. August 1973, p~.308-316. 9. Uhrich. R., "CURV Linkage Manipulator. " Naval Research Center, San Diego. California, NUC TP 271, November 1971. 15. Johnston, A. R.. "Optical Proximity Sensing for Manipulators, " JPL TM 33-6 12, 10. Vykukpl. H.C.. King, R.F. and May 1973. Vallotton, W. C., "An Authropormorphic Master-Slave Manipulator System, " in Remotely Manned Systems - Exploration and 16. Bcjczy, A.K., Johnston, A.R.. "New Tech- Operation in Space, E. Hecr, Ed., Calif- niques for Terminal Phase Control of Mani- ornia Institute of Technology Publ., pulator Motion, 'I JPL Internal Document Pasadena. 1973. 760-98. February 1974.

11. Tomovig. R. , and Boni. C., "An Adaptive 17. "New Techniques for Terminal Phase Con- Artificial Hand, '' IRE Transactions on trol. of Manipulator Motion. " 18 minute Automatic Control, April 1962, pp. 3-10. Sound Movie, JPL Public Affairs Office, No. AVC-016-73V1. July 20, 1973, and 12. Rakiz, M., The Belgrade Hand Prosthesis, " "Manipulator Control with Proximity Sensc - .I1 Proc. Instn, Mech. Engrs. 1968-69. Vol. 183, 3 minute silent movie, JPL Space Life Pt. 33, pp. 60-67. Science, No. 958-A-1. August 1, 1973.

JPL Technical Memorandum 33-721 13 NASA-JCL-COml. 1. 1 Callc