Twendy-One Presented by: Brandon Norton Robot Designed by: WASEDA University Sugano Laboratory, 2009

Assistive Robotics High Potential to help elderly and people with disabilities Fast growing field Precise force/ torque control needed

Twendy-One in Action

Twendy-One’s Movement

Joint Rotation Axis

Movement cont… Redundant DOFs to achieve specific motion Singularities could present a problem, but are less likely to occur. Torque controlled motors to avoid harm to humans.

Twendy-One Hands

Passive Joints Passive Joints allow the link to twist at a different rate than the motor output Improved safety for robot and environment

Another Demonstration

Limitations and Cost Slow movement Many motors needed Specific tasks require advanced programming. Cost between $110k and 220k

Conclusion Effective at carrying out many assistive tasks. High DOF design is complicated but helpful for carrying out tasks. Force sensors and passive joints help to improve safety. Very expensive for the average potential customer!

References [1]H. Iwata and S. Sugano, “Design of human symbiotic robot TWENDY-ONE,” in 2009 IEEE International Conference on Robotics and Automation, 2009, pp. 580–586. [2] Sugaiwa, T., Nezumiya, M., Iwata, H., & Sugano, S. (2010). “Motion-planning method with active body- environment contact for a hand-arm system including passive joints.” 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 69–74). IEEE. doi: /IROS [3] [4] elderly/14496/ elderly/14496/