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Twendy -One

Twendy -One. Presented by: Brandon Norton Robot Designed by : WASEDA University Sugano Laboratory , 2009. Assistive Robotics. High Potential to help elderly and people with disabilities Fast growing field Precise force/ torque control needed. Twendy -One in Action.

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Twendy -One

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  1. Twendy-One Presented by: Brandon Norton Robot Designed by: WASEDA University Sugano Laboratory, 2009

  2. Assistive Robotics • High Potential to help elderly and people with disabilities • Fast growing field • Precise force/ torque control needed

  3. Twendy-One in Action

  4. Twendy-One’s Movement

  5. Joint Rotation Axis

  6. Movement cont… • Redundant DOFs to achieve specific motion • Singularities could present a problem, but are less likely to occur. • Torque controlled motors to avoid harm to humans.

  7. Twendy-One Hands

  8. Passive Joints • Passive Joints allow the link to twist at a different rate than the motor output • Improved safety for robot and environment

  9. Another Demonstration

  10. Limitations and Cost • Slow movement • Many motors needed • Specific tasks require advanced programming. • Cost between $110k and 220k

  11. Conclusion • Effective at carrying out many assistive tasks. • High DOF design is complicated but helpful for carrying out tasks. • Force sensors and passive joints help to improve safety. • Very expensive for the average potential customer!

  12. References • [1] H. Iwata and S. Sugano, “Design of human symbiotic robot TWENDY-ONE,” in 2009 IEEE International Conference on Robotics and Automation, 2009, pp. 580–586. • [2] Sugaiwa, T., Nezumiya, M., Iwata, H., & Sugano, S. (2010). “Motion-planning method with active body-environment contact for a hand-arm system including passive joints.” 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 69–74). IEEE. doi:10.1109/IROS.2010.5652645 • [3] http://twendyone.com/index_e.html • [4] http://www.gizmag.com/twendy-one-robot-elderly/14496/

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