NATIONAL AERONAUTICS AND SPACE AOYINISTRATION JET PROPULSION LAIORATO CALIFORNIA 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 United States, 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