A parallel structure has been made with variable stiffness actuators. The structure is made to solve a Pick and Place task.
The picking and placing positions require high stiffness to achieve precision, while the trajectory between the two position is followed in a soft way, in order to decrease the dangerousness of a potential collision.
A qbmove Torso has been made and it is controlled using the human body of the user. The position of the arms is detected using a PrimeSense camera and the stiffness of the qbmoves is regulated measuring the muscular contractions of the arms's muscles of the user.
The muscular contractions are detected with electromyographic sensors and read through a PsoC 5LP board.
All the sensors signals are then elaborated in a Simulink simulation
Bimanual grasping and handover of objects with ROS
Assembling two arms (4 DOF each) of q-bots and SoftHand for grasping an object on a table and handover it.
The object detection is made by a stereo-camera (like Asus XtionPro, Kinect, ...).
Everything is developed in ROS (Robot Operating System) and the entire code is in C++.
qbmove and Arduino
Arduino is a single-board microcontroller, intended to make the application of interactive objects or environments more accessible.