Robonaut 2: Medical Opportunities

While robotic technologies are already being used in several industries like logistics and distribution, R2 allows for much more complex and delicate operations that require a more sophisticated level of interaction. In terms of handling inventory, R2's dexterity would allow it to handle a multitude of items, including delicate ones. In addition, it can perform in close proximity to humans, allowing for the use of robotics in areas where it's not currently safe or practical. R2 is equipped to navigate obstacles, fixed or moving and has the capability of handling frequent, random, and unexpected movement of people, products, or equipment as well as items that vary in shape, weight, and fragility. The robot encompasses four elemental systems. Hands: R2's unprecedented dexterity in its hands allows it to use many of the same tools that astronauts and industry workers currently use, significantly reducing the need for specialized tools to perform multiple tasks. Arms: R2's arms are soft at multiple levels and they have redundant force sensing. R2 can safely work side-by-side with humans. Sensing and Perception: R2 shares senses similar to humans like the ability to touch and see. Interface and Control: R2 can function autonomously or it can be controlled by direct teleoperation. When functioning autonomously, R2 understands what to do and how to do it based on sensory input, carrying out tasks in real time.

Robonaut 2 (R2) has the capability of functioning autonomously or it can be controlled by direct teleoperations, which is advantageous for hazardous environments. When functioning autonomously, R2 understands what to do and how to do it based on sensory input. R2's torso holds the control system while the visor holds several cameras that are incorporated into the visual perception system. With these capabilities, R2 can reduce or eliminate the need for humans to be exposed to dangerous environments. R2 also has a very rugged four-wheel base called the Centaur 2. The Centaur 2 base can lower or raise itself to and from the ground and turn its wheels in any direction, allowing it to turn in place and drive forward or sideways. This enables the R2 to enter hazardous areas or tackle difficult terrain without endangering its human operator. Robonaut 2 as a whole, or some of its components, can be an invaluable tool for land mine detection, bomb disposal, search and rescue, waste recycling, medical quarantined area, and so much more. The suite of technologies provides an ability to manipulate tools to help with a task, or it can tackle many tasks in a row, where a standard robot may not have the dexterity or sensing capability to get the job done. R2 could pick through nuclear waste, measure toxicity levels, and survey areas too remote or dangerous for human inspection. R2 could deal with improvised explosive devices, detect and dispose of bombs or landmines, and operate equipment that can break through walls or doors.

R2 was designed to work side-by-side with people and to be sensitive to its surroundings. The robot's advanced vision systems and recognition processing can quickly recognize a person in its path and take the appropriate action. If the robot comes into contact with a person or piece of equipment, it gives. There is no need to design specialized equipment for R2 because the robot has the ability to operate equipment and machines designed for humans, like hand-held power tools. R2 has the capability to improve the speed and accuracy of operations while maintaining sensitivity to its surroundings, making the robot prime for the logistics and distribution environment. R2 was designed to handle unexpected objects coming into its path since it has to function in space where not everything is locked down. The robot has the ability to move in unconventional ways as compared to existing robots. Robonaut 1, an earlier version of R2, was integrated with a two-wheeled Segway personal transporter, giving it a range of motion. R2 has the capability of being integrated onto a two-wheeled base or a more rugged four-wheel base. An adaptable interface would enable R2 to integrate with other surface mobility systems. This NASA Technology is available for your company to license and develop into a commercial product. NASA does not manufacture products for commercial sale.

The R2 hand and forearm assembly represents the cutting edge of humanoid robotics technologies. The highly modular design provides significant improvements over prior humanoid robotic hands, especially in the areas of strength, speed, sensing, and ability to approximate human grasps. Hand, Finger, and Wrist Assembly Design: The robotic humanoid lower arm design (U.S. Patent No. 9,505,134) includes novel robotic finger (U.S. Patent No. 8,562,049), thumb (U.S. Patent No. 8,424,941), and wrist (U.S. Patent No. 8,498,741) assemblies. Actuation & Control System: A novel finger actuation system (U.S. Patent No. 8,467,903) – comprised of an actuator, tendon, conduit, tension sensor (U.S. Patent No. 8,371,177), and terminator – is perhaps the primary enabling technology for R2’s compact, high performance robotic hand. The actuation system is packaged in the wrist (U.S. Patent No. 8,401,700) and reduces the number of actuators, providing significant space savings. Control systems include methods for tensioning (U.S. Patent Nos. 8,412,376, 8,618,762, & 8,056,423) and controlling torque (U.S. Patent No. 8,565,918) of the tendon-driven robotic fingers. The finger actuation control system (U.S. Patent No. 8,489,239) can operate using force- or position-based control laws. Tactile System: R2’s hands feature an innovative tactile system that grant the robot a sense of touch (e.g., measurement of external contact forces, shear force, and slippage of objects held in the hand) – an important requirement for robots designed to perform complex tasks in an automated fashion. The tactile system is enabled by novel six degree of freedom (DoF) force torque sensors (U.S. Patent No. 7,784,363), three of which are integrated into the fingers (at the proximal, medial, and distal phalanges) and two in the thumb (medial and distal phalanges). A calibration system (U.S. Patent No. 8,265,792) ensures the sensors maintain high accuracy throughout operation. Autonomous Grasping: A novel grasp assist device (U.S. Patent No. 9,878,452 & 9,067,319) enables reliable, autonomous interaction with a broad range of objects (e.g., tools). A particle filter-based contact state estimation device (U.S. Patent No. 8,280,837) performs object localization and characterization.

Technologies for Safe Workspace Control of Humanoid Robots: Safety is critical in scenarios where humans (e.g., factory workers or astronauts) are working in proximity to, or interacting with, R2. Methods for applying workspace limitations in velocity-controlled robotic mechanisms (U.S. Patent No. 8,676,382) and force or impedance-controlled robots (U.S. Patent No. 8,483,877) help to ensure such safety. Autonomous Control Systems for Humanoid Robotics: A multiple priority operation space impedance control system (U.S. Patent No. 8,170,718) provides arm control, including programmable Cartesian stiffness. An interactive robot control architecture (U.S. Patent Nos. 8,364,314, and 8,260,460, and 8,706,299), including a simple GUI, provides an interactive development and work environment that integrates sensor data and feedback generated by R2. An additional system selects and controls appropriate manipulators to perform grasping operations (U.S. Patent No. 8,483,882). Humanoid Robotic Health Management System: A diagnostics, prognostics, and health management system for human robotics (U.S. Patent No. 8,369,992) operates at all hardware and software levels of the robotic system, enabling system-wide observability, controllability, maintainability, scalability, and extensibility. Electromagnetic Motor Braking: Electromagnetic fail-safe brakes (U.S. Patent No. 8,067,909) allow for selective, reliable braking of robotic motors (e.g., brushless DC motors) to ensure safe and effective operation. Highly Durable Connector Pin: To address the high failure rate of connectors in robotic systems with flexible members, a highly durable connector pin (U.S. Patent No. 8,033,876) was developed. The pin increases durability of connectors that are frequently flexed – a condition that causes deformation and compromises connectivity.