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Design and Realization of a Social Robot for Teaching Sign Language to Hearing-impaired Children Part One: Upper-body, Arms & Hands

Zakipour, Mohammad | 2016

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 49399 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Meghdari, Ali; Alemi, Minoo
  7. Abstract:
  8. This thesis covers the design and realization steps of the upper-body of RASA, a social humanoid robot to be used as a Persian sign language (PSL) teaching assistant. In the design and fabrication processes, three main requirments is defined. First requirement is the robot's ability to perform PSL. The second one is for the robot to posess the characteristics required for a social robot interacting with targeted groups of people. And the third one is for the robot to be realized with minimum required cost. Further design guidelines are generated based on these three requirements. Analysing the structure of Persian sign language, the kinematic layout of the upper-body of the robot, regarding 29 degrees of freedom which consists of 7 DOFs of hands, 6 DOFs of arms, and 3 DOFs of head, necessary to perform the signs of PSL is determined. Morphological characteristics of the robot are selected by analysign the literature on the subject. The minimum cost requirement is satisfied implementing three main measures: using economy 3D printing teqniques, lightweight Design, besed on using and selecting lightweight mechanical structures and actuators, which eliminate the need for higher torque and consequently more costly actuators, and utilizing inexpensive custom-designed sensor modules. Finally using the trajectory generation and proper control algorithms, the smooth PSL joints movements are generated. Perceptual modules of the robot, as the capabilities of RASA as a social robot which is not in the scope of this thesis will be developed later on in the project
  9. Keywords:
  10. Sign Language ; Humanoid Robot ; Social Robotics ; Robotic Assisted Language Learning (RALL) ; Robot Design ; Hearing-Impaired

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