RASA: A Low-Cost Upper-Torso Social Robot Acting as a Sign Language Teaching Assistant

摘要

This paper presents the design characteristics of a new Robot Assistant for Social Aims (RASA), being an upper-torso humanoid robot platform currently under final stages of development. This project addresses the need for developing affordable humanoid platforms designed to be utilized in new areas of social robotics research, primarily teaching Persian Sign Language (PSL) to children with hearing disabilities. RASA is characterized by three features which are hard to find at the same time in today's humanoid robots: its dexterous hand-arm systems enabling it to perform sign language, low development cost, and easy maintenance. In this paper, design procedures and considerations are briefly discussed and then the mechatronic hardware design of the robot is presented accordingly.