Development of an Intelligent Robotic Rein for Haptic Interaction with Mobile Machines

The haptic sense is often placed secondary when compared to vision and hearing in allowing navigation and autonomy. However, in certain conditions such as low or no visibility, the haptic senses can play a crucial role in aiding navigation and obtaining spatial knowledge of the environment and object properties. For example, search and rescue operations are often undertaken in complex and hazardous situations where factors such as limited or no visibility, noise and time constraints impede progress into an unknown environment. In these situations, the fire-fighter/rescue personnel could be aided by a machine (a mobile robot) that can sense and give the follower tactile and haptic information in a similar manner to the interaction between the visually impaired person and a guide dog. The visually impaired person follows the dog through the signs being transmitted to his hand and interprets them into information about the environment and how to navigate the route. The aim of this research is to investigate and build a prototype robotic rein to emulate the natural and adaptable relationship observed between a guide dog and human when traversing an unknown path. From the previous work, an investigation and evaluation of the design of the SHU prototype have been undertaken and its outcomes are used in this research to improve the new system prototypes, especially in the area of designing the feedback and adaptive control. The new system has divided into four prototypes, each prototype has separated test to determine it is suitability. In the prototype (I) a set of sensors set in the front edge of the existing rein to know follower /robot location. The prototype (II), will implement to moving rein by installing an actuator. Prototype (III) has some sensors in the grip of the rein to calculate the strength of tensile which occur between the follower hand and the long axis of rein. In the prototype (IV), all previous prototypes will be connected to an integrated system which can move the follower to follow the robot path by sending messages from the robot to the follower in the form of rein movements The resultant system is an intelligent robotic rein which continuously interacts with the user to optimize the guidance in terms of comfort, following accuracy and safety. The improved system has been tested, analysed and evaluated against previous designs and compared against the aspiration of the human - guide dog relationship. A novel idea has been established in the use of the sensors to raise the level of the robot human interaction and achieving automatous robot/ follower safe navigation.