AgiLimb: Embodied agile robotic arm by integrating digital reflex and seamless action takeover

Author

Kawashima, Yusuke and Abe, Yoshiaki and Hashimoto, Takeru and Kasahara, Shunichi and Niiyama, Ryuma

Abstract

Performing sports skills with a human-operated robot is a challenging task. The key to human-robot-human (HRH) interaction is to combine the physical capabilities of a robot with the flexibility of a human. We developed the AgiLimb system to enable operators to transcend their own perceptual and physical abilities in a robotic experience while maintaining a sense of agency. The system introduced fast vision-based digital reflex to overcome the delay in human higher-order visual feedback. In addition, the system incorporates action takeover mechanism to improve the accuracy of the motion. The basis for agile motion is a quasi-direct-drive robot manipulator designed specifically for this application. In the demonstration, visitors will experience operating the AgiLimb system that moves and reacts like their own body.