Browsing by Author "Wu, Chien-Yu"

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A Study on Motion Control of a Robotic Endoscope Holder Using Speech Recognition
(2016)
Zinchenko, Kateryna
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Wu, Chien-Yu
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Song, Kai-Tai
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資訊工程學系
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電控工程研究所
This paper presents a design of speech recognition interface for a robotic endoscope holder for abdominal Minimally Invasive Surgery(MIS). A set of seven voice commands are used to control 3 degree of freedom(DOF) robotic arm with remote center of motion(RCM). Speech recognition algorithm was implemented on Ubuntu OS using Pocket Sphinx and achieved 90% success rate. Command signal was delivered to the robotic holder using serial port communication through RS232 cable. Experimental results show that the proposed control strategy has navigation precision up to 2.5mm or 7.7\'degrees in horizontal direction, 1.8mm or 3.150 degrees in vertical direction and 9 mm precision during insertion task with camera tip located at distance of 5 cm after RCM point. Average latency between two consecutive commands was 3.34s.
A Study on Speech Recognition Control for a Surgical Robot
(2017-04-01)
Zinchenko, Kateryna
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Wu, Chien-Yu
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Song, Kai-Tai
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交大名義發表
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電控工程研究所
Speech recognition is common in electronic appliances and personal services, but its use for industrial and medical purposes is rare because of the presence of motion ambiguity. For minimally invasive surgical robotic assistants, this ambiguity arises because the robotic motion is not calibrated to the camera images. This paper presents a design for a speech recognition interface for an HIWIN robotic endoscope holder. A new intentional speech control is proposed to control movement over long distances. To decrease ambiguity, a method is proposed for voice-to-motion calibration that compares the degree of change in the endoscope image for a voice command. A speech recognition algorithm is implemented on Ubuntu OS, using CMU Sphinx. The control signal is sent to the robot controller using serial-port communication through a RS232 cable. The experimental results show that the proposed intentional speech control strategy has a navigation precision of up to 3.1 degrees of angular displacement for the endoscope. The overall system processing time, including robotic motion, is 3.22 s for similar to 1.8-s speech duration. The reference image navigation range is from 2.5 mm for similar to 0.5- s speech duration up to 6 mm for similar to 1.8-s speech duration, using a setup with camera tip that is located at a distance of 5 cm from the remote center of motion point.
Design and Experiment of a Human-Touch Robot
(2014)
Song, Kai-Tai
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Jiang, Sin-Yi
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Lin, Ming-Han
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Wu, Cheng-Hei
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Chiu, Yi-Fu
In this paper we propose a shared-control based teleoperation design for a dual-arm omnidirectional mobile robot. The robot not only can adapt its motion to environment autonomously, but also move according to the user\'s remote commands. To achieve this goal, a shared-control scheme for effective remote control of the mobile robot is developed. For tele-presence and remote control, a user interface is designed for a smart phone/tablet. The proposed controller determines the human and autonomy control gains by computing user\'s confidence factor. In this approach, the robot assists a user to manipulate its motion from a remote site by compensating local insufficiency of human remote control. Practical experiments validate the proposed design and demonstrate that the proposed shared-control approach of a dual-arm omnidirectional mobile robot can have potential use for future home service tasks.
Hybrid Visual Servoing Design for a Continuum Robot under Visibility Constraint and Voice Commands
(2016-01-01)
Wu, Chien-Yu
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Song, Kai-Tai
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電控工程研究所
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Institute of Electrical and Control Engineering
This paper presents a method to combine voice control and hybrid visual servoing for a continuum robot. In this design, the continuum robot autonomously tracks the element of interest and maintains its position in the safe region based on image information. A method of hybrid visual servoing is proposed to integrate 2D image-based visual servoing (IBVS) to ensure the elements of interests under visibility constraints and 3D position-based visual servoing (PBVS) to adjust the robot to a desired pose in the constraint region. The robotic camera thus provides stable image while tracking the element of interest. In this design, the user can move the continuum robot to acquire the desired view by voice commands. In voice control, the system can recognize connecting words to control the robot. All software modules are integrated using Robot Operating System (ROS) for controlling the continuum robot. Experimental results obtained from a prototype continuum robot verify the effectiveness of the proposed method.