Robot Mechanisms and

User Interfaces
Prof. Dr.-Ing. habil. Philipp Beckerle
Agenda

01 Module motivation and outline

02 Overview of mechanisms and (haptic) interfaces

03 Summary

This lecture is being recorded. The unedited video will be made available to all students through FAU.tv and StudOn.

Introduction | Robot mechanisms and user interfaces | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 16. Oktober 2023 2
Motivation
01 Module motivation and outline

Robots… actuators… sensors… interfaces… are mechatronic systems, which demand

mechanical knowledge and can strongly benefit from “intelligent mechanics”!

(Grosu et al., 2017)

Introduction | Robot mechanisms and user interfaces | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 16. Oktober 2023 3
Learning objectives
01 Module motivation and outline

On successful completion of this module, students will be able to:

1. Distinguish basic mechanical components and select them appropriately in mechanism design.

2. Understand robot mechanisms and apply kinematic calculations for their design and control.

3. Know components of human-robot interfaces and be able to use such components systematically.

4. Comprehend physical and cognitive user modeling methods.

Introduction | Robot mechanisms and user interfaces | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 16. Oktober 2023 4
Structure of the module
01 Module motivation and outline

Lecture (with German recap):

• Mondays, 14:15 – 15:45 at H7 Helmut-Volz-Hörsaal

• Prof. Dr.-Ing. habil. Philipp Beckerle

• Intermediate mini-design project (MDP) presentation sessions

Tutorial:

• Thursdays, 10:15 – 11:45 at SR 02.028 and Zoom

• Q&A sessions regarding lecture content, MDP and organizational issues (online)

• MDP team meetings as private discussion with each group

Examination: Written exam, 90min

Introduction | Robot mechanisms and user interfaces | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 16. Oktober 2023 5
Mini-design project
01 Module motivation and outline

• Group project to strengthen your learning outcomes and teamwork skills

• You design, develop, and virtually implement an interface that can be used in physical human-robot
interaction

• The teaching assistant provides consultancy for concept, mechanism, and interface design

• You present the outcomes of your project regularly

• A jury will choose the most successful concept and final designs.

Concept Your Own

Calculation Final Design
Development Presentation Report Presentation Interface
Sprint Sprint
Sprint Design

Introduction | Robot mechanisms and user interfaces | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 16. Oktober 2023 6
Schedule
01 Module motivation and outline

Lecture Tutorial
Week Dates Project Milestones
Mondays 14:15 - 15:45 Thursdays 10:15 - 11:45
1 16/10/2023 - 20/10/2023 L1: Introduction Q&A
2 23/10/2023 - 27/10/2023 MDP Kickoff Session MDP Team Meetings
3 30/10/2023 - 03/11/2023 L2: Mechanical machine elements
4 06/11/2023 - 10/11/2023 L3: Kinematics of mechanisms MDP Team Meetings
5 13/11/2023 - 17/11/2023 L4: Evaluation metrics and design methods Q&A Concept milestone
6 20/11/2023 - 24/11/2023 MDP Concept Presentations MDP Team Meetings
7 27/11/2023 - 01/12/2023 L5: Redundancy in mechanisms Q&A
8 04/12/2023 - 08/12/2023 L6: Sensors and stimulators MDP Team Meetings
9 11/12/2023 - 15/12/2023 Q&A Calculation milestone
MDP Calculation Sprint
10 18/12/2023 - 22/12/2023 MDP Team Meetings
11 08/01/2024 - 12/01/2024 L7: Human-machine interfaces Q&A
12 15/01/2024 - 19/01/2024 L8: User modeling MDP Team Meetings
13 22/01/2024 - 26/01/2024 L9: Wrap-up session Q&A Design milestone
14 29/01/2024 - 02/02/2024 MDP Final Presentations Q&A
15 05/02/2024 - 09/02/2024 Buffer

Introduction | Robot mechanisms and user interfaces | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 16. Oktober 2023 7
Relevant literature
01 Module motivation and outline

• Rinderknecht, S. (2018). Einführung in die Mechatronik für den Maschinenbau. Shaker.

• Lenarcic, J., Bajd, T., & Stanišić, M. M. (2012). Robot mechanisms (Vol. 60). Springer Science &
Business Media.

• Hatzfeld, C., & Kern, T. A. (2016). Engineering Haptic Devices. Springer London Limited.

• Further references are provided in the slides.

Introduction | Robot mechanisms and user interfaces | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 16. Oktober 2023 8
F.A.Q and Forum RMI
01 Module motivation and outline

Questions? ⇒ F.A.Q. ⇒ Forum ⇒ Teaching Assistant

Introduction | Robot mechanisms and user interfaces | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 16. Oktober 2023 9
About us
01 Module motivation and outline

Prof. Dr.-Ing. habil. Philipp Beckerle Ege Cansev, M.Sc.

[email protected] [email protected]

Introduction | Robot mechanisms and user interfaces | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 16. Oktober 2023 10
About us
01 Module motivation and outline

Lehrstuhl für Autonome Systeme und

Mechatronik (ASM)
Prof. Dr.-Ing. habil. Philipp Beckerle
Paul-Gordan-Straße 3/5
91052 Erlangen
ASM
www.asm.tf.fau.de

© OpenStreetMap contributors, CC-BY-SA

Introduction | Robot mechanisms and user interfaces | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 16. Oktober 2023 11
Research @ASM
01 Module motivation and outline

Wearable Components & control Interfaces & interaction

systems
Cognitive
systems

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Teaching @ASM
01 Module motivation and outline

Fundamental modules Specialization modules

Grundlagen der Elektrotechnik III Robot Mechanisms and user Interfaces (5 ECTS, WiSe)
(5 ECTS, WiSe) Human-centered Mechatronics and Robotics
Sensorik (5 ECTS, WiSe) (5 ECTS, SoSe)
Mechatronic Components and Systems Autonomous Systems: From Research to Products
(5 ECTS, SoSe) (2.5 ECTS, WiSe)

ASM
Laboratories Seminars
Grundlagen der Elektrotechnik III (SoSe) Autonomous Systems and Mechatronics
(2.5 ETCS, WiSe/SoSe)
Automatisierungstechnik (2.5 ECTS, SoSe)
Human-Robot Interaction (2.5 ETC, WiSe)
Sensorik (2.5 ECTS, SoSe)
Human-Robot Interaction (2.5 ECTS, WiSe)

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Autonomous Systems: From Research to Products
01 Module motivation and outline

Lecture series in winter term (2.5 ECTS)

Lecturer: Experts from Siemens and FAU
Language: English
Coordinator: Rodrigo J. Velasco-Guillen, Prof. Dr.-Ing. habil. Philipp
Beckerle
Time and place: Thursdays 16:15 - 17:45, H8 / Teams
Examination: Multiple Choice Exam (60 mins)
Studon: https://www.studon.fau.de/crs5224733.html
Course registration open now

Description: This course presents different concepts related to the

autonomous systems from academic and commercial perspective.

Main topics: Actuators, Mechanics and Mechatronics, Simulation, Power

Electronics, Control, Connectivity and Localization, Sensors, Internet of
Things, Regulatory Aspects, Materials and Additive Manufacturing.

Introduction | Robot mechanisms and user interfaces | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 16. Oktober 2023 14
Agenda

01 Module motivation and outline

02 Overview of mechanisms and (haptic) interfaces

03 Summary

Introduction | Robot mechanisms and user interfaces | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 16. Oktober 2023 15
A mechatronic view on robotic systems
02 Overview of mechanisms and (haptic) interfaces

Systemgrenze Störungen
system boundary disturbances

Eingangsgrößen Ausgangsgrößen
input variables output variables
Grundsystem measuring variables
basic system Messgrößen

Hilfsenergie Aktorik Sensorik

auxiliary energy actuators sensors

Messsignale
Prozessrechner sensor signals
controller

Mensch-Maschine-Schnittstelle
human machine interface
Rückmeldung Führungsgrößen
feedback reference variables (Rinderknecht, 2019a)

Introduction | Robot mechanisms and user interfaces | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 16. Oktober 2023 16
What is a mechanism?
02 Overview of mechanisms and (haptic) interfaces

“A mechanism is a structure performing a function in virtue of its

component parts, component operations, and their organization.
The orchestrated functioning of the mechanism is responsible for
one or more phenomena.” (Bechtel & Abrahamsen, 2005)

americanhistory.si.edu
(Wang et al., 2021)

https://www.youtube.com/watch?v=rhu2xNIpgDE

Introduction | Robot mechanisms and user interfaces | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 16. Oktober 2023 17
Elements of mechanisms
02 Overview of mechanisms and (haptic) interfaces

1 element 2 elements

Mechanisms consist
of links and joints.

Component (motionless) Bearing (movable)

3 elements 4 elements

Rod triple lay Transmission

(motionless) (movable) (Rinderknecht, 2019a)

Introduction | Robot mechanisms and user interfaces | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 16. Oktober 2023 18
 Degrees of freedom and types of joints
02 Overview of mechanisms and (haptic) interfaces

• Degrees of freedom (DoF) of a mechanism

Minimum number of the mechanism‘s independent joint variables which must be specified in order to
uniquely determine the spatial pose of all its elements.

• 𝑓 independent joint variables associated with a joint = 𝑓 DoF allowed

Translational (prismatic) joint Rotational (revolute) joint

𝑓=1 𝑓=1
(Lenarcic et al., 2012)

Introduction | Robot mechanisms and user interfaces | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 16. Oktober 2023 19
Degrees of freedom of gearboxes
02 Overview of mechanisms and (haptic) interfaces

Degrees of freedom (DoF) of a mechanism

1. Determination of the sum of the theoretically possible degrees of freedom of all elements involved (2D
plane or 3D space ➔ 3 or 6 per movable element : 𝒏 )

2. Determine the number of movement options that are suppressed

by all joints and bearings involved: 𝒎

3. Number of degrees of freedom overall system (transmission): 𝒇 = 𝒏 − 𝒎

Example toothed wheel gear:

II
I 2 movable elements I, II in 2D plane (2 x 3 DoF): 6 DoF
2 rotational joints A, B (suppress 2 x 2 DoF): - 4 DoF
A B 1 tooth mesh C (1 1 kinemat. coupled DoF):
DoF - 1 DoF
Freedom of movement gear wheels 1 DoF
C
(Rinderknecht, 2019a)

Introduction | Robot mechanisms and user interfaces | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 16. Oktober 2023 20
Kinematics of a mechanism
02 Overview of mechanisms and (haptic) interfaces

“Kinematics is the science of motion of points and bodies in space, characterized by their position, speed, and
acceleration without considering the external causes of motion, i.e., forces and torques.”
(Hatzfeld & Kern, 2016)

(Siciliano et al., 2010)

(De Santis et al., 2007)

Introduction | Robot mechanisms and user interfaces | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 16. Oktober 2023 21
Human-machine interface
02 Overview of mechanisms and (haptic) interfaces

DIN EN ISO 9241-210:

All components of an interactive system (software or hardware) that
provide information and control elements necessary for the user to
perform a particular task with the interactive system.

(ideaing.com)

(Teklemariam & Das, 2017) (Weber et al., 2016) (mall.industry.siemens.com)

Introduction | Robot mechanisms and user interfaces | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 16. Oktober 2023 22
In-class exercise: human-machine interfaces
02 Overview of mechanisms and (haptic) interfaces

Brainstorming:

What could be a typical human-machine interface for an application in your field of studies?

Which hardware components would you require?

Which software functions could be useful?

Introduction | Robot mechanisms and user interfaces | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 16. Oktober 2023 23
Tactile and kinesthetic perception
02 Overview of mechanisms and (haptic) interfaces

Haptics
Tactile Kinesthetic
High bandwidth perception through Motor system state perception via
different skin-embedded receptors muscle, tendon, and joint receptors

Mechanical stimulation Forces and torques

Thermal stimulation Body orientation

Electrical stimulation Limb alignment

Chemical stimulation Joint positions

(Hatzfeld & Kern, 2016)

Introduction | Robot mechanisms and user interfaces | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 16. Oktober 2023 24
Haptic interfaces and mechanisms
02 Overview of mechanisms and (haptic) interfaces

“Haptics describes the sense of touch and movement and the (mechanical) interactions involving these.”
(Hatzfeld & Kern, 2016)

(Kim et al., 2017) (Worsnopp et al., 2007) (Pacchierotti et al., 2015)

Introduction | Robot mechanisms and user interfaces | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 16. Oktober 2023 25
Motivation for haptic interaction
02 Overview of mechanisms and (haptic) interfaces

MD: Movement duration

MGA: Maximum grip aperture
MWV: Maximum wrist velocity
MWD: Maximum wrist deceleration
(Camponogara & Volcic, 2019)

Introduction | Robot mechanisms and user interfaces | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 16. Oktober 2023 26
One step further: tactile internet
02 Overview of mechanisms and (haptic) interfaces

(Haddadin, Johannsmeier & Ledezma, 2018)

Introduction | Robot mechanisms and user interfaces | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 16. Oktober 2023 27
Conceptual design
02 Overview of mechanisms and (haptic) interfaces

Requirements list
Information
Abstract to identify the essential problems
Definition
Establish function structures / overall function & subfunctions

Conceptual design
Search for working principles Creation

Combine working principles into working structures

Select suitable combinations

Elaboration into principle solution variants

Evaluate variants against technical and economic criteria Evaluation

Decision
Principle solution (Concept)
(Pahl et al., 2007)

Introduction | Robot mechanisms and user interfaces | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 16. Oktober 2023 28
Establishing function structures
02 Overview of mechanisms and (haptic) interfaces

• Once the task has been defined it is possible to represent the overall function that relate the inputs and
outputs of a plant, machine, or assembly.

• This overall function can be represented graphically with a block diagram that indicates the function
structure, divided in several subfunctions, and the flow of energy, material, and signals.

• The function structure should be as accurate as possible.

(Pahl et al., 2007)

Introduction | Robot mechanisms and user interfaces | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 16. Oktober 2023 29
Overview of haptic system evaluation methods
02 Overview of mechanisms and (haptic) interfaces

Task-centered User-centered
evaluation methods evaluation methods
Telepresence
Assistive systems
Comanipulation
Subjective
Task Discrimination of Learning evaluation
performance haptic properties effects
tests and signals
Virtual reality Workload
Applications
Universal haptic
interfaces Information
input Psychological measures

Communication Effects on performance in other

Discrimination of signals domains

(Hatzfeld & Kern, 2016)

Introduction | Robot mechanisms and user interfaces | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 16. Oktober 2023 30
Agenda

01 Module motivation and outline

02 Overview of mechanisms and (haptic) interfaces

03 Summary

Introduction | Robot mechanisms and user interfaces | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 16. Oktober 2023 31
Your Point of View
03 Summary

What are the main takeaways from this lecture?

Introduction | Robot mechanisms and user interfaces | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 16. Oktober 2023 32
Take Home Message
03 Summary

1. Taking a mechatronic view on robotic systems outlines their (mechanical) components. Their selection
requires a systematic design procedure based on a requirement analysis.

2. Kinematics describes the motion of points and bodies in space without considering the external
causes.

3. Mechanisms play a big role in robot design. Kinematic modeling, analysis, and computations can help
to improve (mechanical) design as well as control.

4. Haptic perception can be classified as tactile and kinesthetic perception. The tactile (cutaneous)
perception processes the information from skin receptors while the kinesthetic perception comprises
information regarding the motor system.

5. Haptic interfaces are crucial in human-robot interaction. Adding haptic feedback often increases task
performance and accuracy. There are multiple evaluation methods to assess haptic interfaces.

This lecture is being recorded. The unedited video will be made available to all students through FAU.tv and StudOn.

Introduction | Robot mechanisms and user interfaces | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 16. Oktober 2023 33
Related Literature
03 Summary

• Rinderknecht, S.: lecture ”Maschinenelemente und Mechatronik 1“, TU Darmstadt, 2019.

• Rinderknecht, S.: lecture ”Mechatronische Systemtechnik 1“, TU Darmstadt, 2019b.

• Hatzfeld, C., & Kern, T. A. (2016). Engineering Haptic Devices. Springer London Limited.

• Bechtel, W., & Abrahamsen, A. (2005). Explanation: A mechanist alternative. Studies in History and Philosophy of Science
Part C: Studies in History and Philosophy of Biological and Biomedical Sciences, 36(2), 421-441.

• Camponogara, I., & Volcic, R. (2019). Grasping movements toward seen and handheld objects. Scientific reports, 9(1), 1-8.

• Francone, A., Huang, J. M., Ma, J., Tsao, T. C., Rosen, J., & Hubschman, J. P. (2019). The effect of haptic feedback on
efficiency and safety during preretinal membrane peeling simulation. Translational vision science & technology, 8(4), 2-2.

• Grosu, V., Rodriguez-Guerrero, C., Grosu, S., Vanderborght, B., & Lefeber, D. (2017). Design of smart modular variable
stiffness actuators for robotic-assistive devices. IEEE/ASME Transactions on Mechatronics, 22(4), 1777-1785.

• Haddadin, S., Johannsmeier, L., & Ledezma, F. D. (2018). Tactile robots as a central embodiment of the tactile Internet.
Proceedings of the IEEE, 107(2), 471-487.

Introduction | Robot mechanisms and user interfaces | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 16. Oktober 2023 34
Related Literature
03 Summary

• Kim, H. J., Sim, K., Thukral, A., & Yu, C. (2017). Rubbery electronics and sensors from intrinsically stretchable elastomeric
composites of semiconductors and conductors. Science Advances, 3(9), e1701114.

• Pacchierotti, C., Meli, L., Chinello, F., Malvezzi, M., & Prattichizzo, D. (2015). Cutaneous haptic feedback to ensure the
stability of robotic teleoperation systems. The International Journal of Robotics Research, 34(14), 1773-1787.

• Pahl, G., Beitz, W., Feldhusen, J., & Grote, K. (2007). Engineering Design: A Systematic Approach (K. Wallace & L. Blessing,
Trans.). Springer Science and Business Media.

• Siciliano, B., Sciavicco, L., Villani, L., & Oriolo, G. (2010). Robotics: modelling, planning and control. Springer Science &
Business Media.

• Teklemariam, H. G., & Das, A. K. (2017). A case study of phantom omni force feedback device for virtual product design.
International Journal on Interactive Design and Manufacturing (IJIDeM), 11(4), 881-892.

• Wang, D., Xiong, Y., Zi, B., Qian, S., Wang, Z., & Zhu, W. (2021). Design, analysis and experiment of a passively adaptive
underactuated robotic hand with linkage-slider and rack-pinion mechanisms. Mechanism and Machine Theory, 155, 104092.

• Worsnopp, T. T., Peshkin, M. A., Colgate, J. E., & Kamper, D. G. (2007, June). An actuated finger exoskeleton for hand
rehabilitation following stroke. In 2007 IEEE 10th international conference on rehabilitation robotics (pp. 896-901). IEEE.

Introduction | Robot mechanisms and user interfaces | ASM @ FAU Erlangen-Nürnberg | P. Beckerle 16. Oktober 2023 35