Towards a non-invasive measurement of human motion, force, and impedance during a complex physical-interaction task : wire-harnessing

Despite inferior 'wetware' and 'hardware', humans out-perform robots in tasks that require physical interaction, especially physical interaction with non-rigid objects. This performance gap is ever-present in the manufacturing process known as wire-harnessing. Generally, on an assembly line, robots can be used to quickly and accurately assemble a system. However, due to the non-rigid nature of a wire harness, wire-harnessing is done manually. In an effort to better inform robots to help humans do this task, it was proposed to study how humans install wire-harnesses. However, current methods of studying human behavior inherently impede the human. Thus, it was proposed to develop a method that can measure the force and impedance of a wire-harness installation worker's hands and arms using solely motion information. To do so for the human hand, the idea of using a whole-hand, synergy-based Interaction Capture method was explored.

Name thesis:degree_name

Master

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Mechanical Engineering

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2020

Author dc:creator

• West, A. Michael(Aaron Michael),Jr.

Advisor dc:contributor.advisor

• Neville Hogan.

• Mechanical Engineering.

Statement dc:rights

• MIT theses may be protected by copyright. Please reuse MIT thesis content according to the MIT Libraries Permissions Policy, which is available through the URL provided.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

https://hdl.handle.net/1721.1/127116

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/127116