TRANSFER OF KNOWLEDGE FROM A HUMAN SKILLED WORKER TO AN EXPERT MACHINE - THE LEARNING PROCESS

• US 20090132088A1
• Filed: 04/24/2008
• Published: 05/21/2009
• Est. Priority Date: 04/24/2007
• Status: Abandoned Application

• Current Assignee: Tairob Limited
• Original Assignee: Tairob Limited
• Inventors: Taitler, Isaac
• Application Number:
  US12/108,585
• Publication Number:
  US 20090132088A1
• Time in Patent Office: Days
• US Class Current: 700/264
• CPC Class Codes: B25J 13/02 Hand grip control means handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214
• CPC Class Codes: B25J 3/04 involving servo mechanisms servo-actuated heads B25J15/02
• CPC Class Codes: G05B 19/42 Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
• CPC Class Codes: G05B 19/427 Teaching successive positions by tracking the position of a joystick or handle to control the positioning servo of the tool head, master-slave control G05B19/423 takes precedence
• CPC Class Codes: G05B 2219/36442 Automatically teaching, teach by showing
• CPC Class Codes: G05B 2219/40391 Human to robot skill transfer

Abstract

A learning environment and method which is a first milestone to an expert machine that implements the master-slave robotic concept. The present invention is of a learning environment and method for teaching the master expert machine by a skilled worker that transfers his professional knowledge to the master expert machine in the form of elementary motions and subdivided tasks. The present invention further provides a stand alone learning environment, where a human wearing one or two innovative gloves equipped with 3D feeling sensors transfers a task performing knowledge to a robot in a different learning process than the Master-Slave learning concept. The 3D force\torque, displacement, velocity\acceleration and joint forces are recorded during the knowledge transfer in the learning environment by a computerized processing unit that prepares the acquired data for mathematical transformations for transmitting commands to the motors of a robot. The objective of the new robotic learning method is a learning process that will pave the way to a robot with a “human-like” tactile sensitivity, to be applied to material handling, or man/machine interaction.

Claims

1. A learning environment for learning task performing knowledge from a human operator, the learning environment comprising:

(a) a cell body defining an restricted learning environment space;

(b) one or more 3D feeling sensors;

(c) multiple sensors for sensing the presence and motion of an object inside said learning environment space; and

(d) a processing unit,

wherein said human operator performs said task inside said learning environment space;

wherein said 3D feeling sensors provide 3D information regarding the contact of said sensors with a surface of an object or materials, wherein said 3D information is selected from a group including friction, perpendicular force variation, tangential force variation and tactile roughness;

wherein said multiple sensors sense the 3D location, displacement, acceleration and forces of an object inside said learning environment space; and

wherein said processing unit analyzes and records the data transmitted by said 3D feeling and multiple sensors and by said optical sensors.

2. The learning environment of claim 1, wherein said multiple sensors are selected from a group including:

optical sensors, video cameras, acceleration sensors, RF sensors, sonic sensors and other sensors.

3. The learning environment of claim 1, wherein one or more of said multiple sensors are video cameras configured to acquire a plurality of images of the environment enclosed in said learning environment.

4. The learning environment of claim 1, wherein said finger of said 3D feeling sensors are made of piezoelectric materials.

5. The learning environment of claim 1, wherein said human operator wears an arrangement or a glove comprising at least one fitted cap, wherein said fitted cap is worn on a finger of said human operator and said fitted cap is equipped with said 3D feeling sensors, thereby, when said 3D feeling sensors are in contact with said surface of said object or materials, said 3D feeling sensors provide 3D information regarding the contact of said sensors with a surface of said object or materials to said processing unit.

6. The learning environment of claim 1, wherein said 3D feeling sensors and said multiple sensors map the interaction between said human operator and said material, thereby obtaining said material behaviour by identifying the forces applied to said material and identifying the displacement of the material by said multiple sensors.

7. The learning environment of claim 1, being part of a master-slave robotic concept, having a master expert machine (MEM) robot for learning and recording a professional task learnt from a human operator, wherein said processing unit is integrated into said MEM robot, so as to create within said MEM robot a sharable data base for computing a control law for the task required for a slave expert machine (SEM) robot, the learning environment further comprising:

(e) one or more anthropomorphic palms, comprising three or more fingers, operatively attached to the arms of said MEM robot,

wherein said human operator teaches said MEM robot the sequence of operations required to perform said task in said learning environment.

8. The learning environment of claim 7, wherein said anthropomorphic palm comprises three fingers.

9. The learning environment of claim 7, wherein each of said fingers comprises at least one of said 3D feeling sensors.

10. The learning environment of claim 7, wherein each of said fingers of said anthropomorphic palm has more degrees of freedom (DOFs) than a human finger, thereby enabling said finger of said anthropomorphic palm to perform any task that a human finger is capable to perform.

11. A method for transferring knowledge from a human operator to a mobile MEM robot, thereby teaching MEM robot to perform the required professional task so as to create within the MEM robot a sharable data base for computing a control law for the task required for a slave expert machine (SEM) robot, the method comprising the following main sequence of steps:

(a) providing one or more anthropomorphic palms, comprising three or more fingers, operatively attached to said MEM robot wherein said fingers of said anthropomorphic palms include 3D feeling sensors; and

(b) providing a learning environment, wherein said learning environment includes multiple sensors and a processing unit; and

(c) performing said professional task by the hands of said human operator in said learning environment, wherein said at least one anthropomorphic palm is operatively attached to a palm of said human operator and wherein said 3D feeling sensors and said multiple sensors provide continuous 3D data of the position, displacement, velocity and force sensed at each of the joints of said finger.

12. The method of claim 11, wherein said multiple sensors are selected from a group including:

optical sensors, video cameras, acceleration sensors, RF sensors, sonic sensors and other sensors.

13. The method of claim 11, wherein one or more of said multiple sensors are video cameras configured to acquire a plurality of images of the environment enclosed in said learning environment.

14. An anthropomorphic palm comprising three or more fingers, wherein at least one of said fingers comprises at least one 3D feeling sensor.

15. The anthropomorphic palm of claim 14, wherein each of said fingers of said anthropomorphic palm has more degrees of freedom (DOFs) than a human finger, thereby enabling said finger of said anthropomorphic palm to perform any task that a human finger is capable to perform.

16. The anthropomorphic palm of claim 14, wherein said anthropomorphic palm, comprises three fingers.

17. The anthropomorphic palm of claim 14, wherein said 3D feeling sensors are integrated into the control loop of a robotic system, thereby substantially improve the operational sensitivity of the robot.