RT Conference Proceedings
T1 Autonomous Wristband Placement in a Moving Hand for Victims in Search and Rescue Scenarios With a Mobile Manipulator.
A1 Pastor-Martín, Francisco
A1 Ruiz-Ruiz, Francisco Jesús
A1 Gómez-de-Gabriel, Jesús Manuel
A1 García-Cerezo, Alfonso José
K1 Robótica
K1 Ayuda en las catástrofes
K1 Robots autónomos
AB In this letter, we present an autonomous method for the placement of a sensorized wristband to victims in aSearch-And-Rescue (SAR) scenario. For this purpose, an all-terrain mobile robot includes a mobile manipulator, whichEnd-Effector (EE) is equipped with a detachable sensorized wristband. The wristband consists of two links with a sharedshaft and a spring. This configuration allows the wristband to maintain fixed to the EE while moving and get placed aroundthe victim’s forearm once the contact is produced. The method has two differentiated phases: i) The visual moving handtracking phase, where a 3D vision system detects the victim’s hand pose. At the same time, the robotic manipulator tracks itwith a Model Predictive Controller (MPC). ii) The haptic force-controlled phase, where the wristband gets placed around thevictim’s forearm controlling the forces exerted. The wristband design is also discussed, considering the magnitude of the forceneeded for the attachment and the torque the wristband exerts to the forearm. Two experiments are carried out, one in thelaboratory to evaluate the performance of the method and the second one in a SAR scenario, with the robotic manipulatorintegrated with the all-terrain mobile robot. Results show a 97.4% success in the wristband placement procedure and agood performance of the whole system in a large scale disaster exercise
YR 2023
FD 2023
LK https://hdl.handle.net/10630/26836
UL https://hdl.handle.net/10630/26836
LA eng
NO Plan Propio de la Universidad de Málaga, y Ministerio de Ciencia, Innovaci ón y Universidades, Gobierno de España, RTI2018-093421-B-I00.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech.
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 20 ene 2026