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ResQbot: A Mobile Rescue Robot with Immersive Teleperception for Casualty Extraction

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Towards Autonomous Robotic Systems (TAROS 2018)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10965))

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Abstract

In this work, we propose a novel mobile rescue robot equipped with an immersive stereoscopic teleperception and a teleoperation control. This robot is designed with the capability to perform safely a casualty-extraction procedure. We have built a proof-of-concept mobile rescue robot called ResQbot for the experimental platform. An approach called “loco-manipulation” is used to perform the casualty-extraction procedure using the platform. The performance of this robot is evaluated in terms of task accomplishment and safety by conducting a mock rescue experiment. We use a custom-made human-sized dummy that has been sensorised to be used as the casualty. In terms of safety, we observe several parameters during the experiment including impact force, acceleration, speed and displacement of the dummy’s head. We also compare the performance of the proposed immersive stereoscopic teleperception to conventional monocular teleperception. The results of the experiments show that the observed safety parameters are below key safety thresholds which could possibly lead to head or neck injuries. Moreover, the teleperception comparison results demonstrate an improvement in task-accomplishment performance when the operator is using the immersive teleperception.

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Notes

  1. 1.

    Virtual Reality Head Mounted Display by VIVE: https://www.vive.com/.

  2. 2.

    Quickie Salsa-M powered wheelchair by Sunrise Medical: www.sunrisemedical.co.uk.

  3. 3.

    LORD MicroStrain IMU: http://www.microstrain.com/inertial/3dm-gx4-25.

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Acknowledgement

Roni Permana Saputra would like to thank Indonesia Endowment Fund for Education - LPDP, for the financial support of the PhD program. The authors would also like to show our gratitude to Arash Tavakoli and Nemanja Rakicevic for helpful discussions and inputs for the present work.

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Authors and Affiliations

  1. Robot Intelligence Lab, Dyson School of Design Engineering, Imperial College London, London, UK

    Roni Permana Saputra & Petar Kormushev

  2. Research Centre for Electrical Power and Mechatronics, Indonesian Institute of Sciences - LIPI, Jakarta, Indonesia

    Roni Permana Saputra

Authors
  1. Roni Permana Saputra
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  2. Petar Kormushev
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Corresponding author

Correspondence to Roni Permana Saputra .

Editor information

Editors and Affiliations

  1. University of the West of England, Bristol, United Kingdom

    Manuel Giuliani

  2. University of Bath, Bath, United Kingdom

    Tareq Assaf

  3. University of Bristol, Bristol, United Kingdom

    Maria Elena Giannaccini

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Saputra, R.P., Kormushev, P. (2018). ResQbot: A Mobile Rescue Robot with Immersive Teleperception for Casualty Extraction. In: Giuliani, M., Assaf, T., Giannaccini, M. (eds) Towards Autonomous Robotic Systems. TAROS 2018. Lecture Notes in Computer Science(), vol 10965. Springer, Cham. https://doi.org/10.1007/978-3-319-96728-8_18

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  • DOI: https://doi.org/10.1007/978-3-319-96728-8_18

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-96727-1

  • Online ISBN: 978-3-319-96728-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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