Robotic Platforms
The ART-Med lab. has multiple robotic platforms for research projects focused on tele-manipulation, mobile navigation, and human-robot interaction. Below are the list of robotic platforms:

• Adept Telepresence robotic platform (1 unit)
  • 2 Kinova JACO 2 robotic manipulators (2 units) with two 7 DoF manipulators with a gripper per each arm for tele-manipulation
  • Adept LX mobile robot (1 unit) with laser scanner, ultrasound sensors, and differential-drive wheels, capable of SLAM based navigation and path planning for telepresence research
• Romo from Romotive (5 units): Interactive robotic platform for our study on music-based interactive robot therapy for children with autism spectrum disorder (ASD)
• Robotis DARWin-OP2 (3 units) and Robotis Mini (4 units): Humanoid robot platforms for interacting with children with ASD
• SoftBank Pepper Robot (3 units) and NAO robot (1 unit): The humanoid and programmable robot platforms for interacting with adolescents with ASD.
• Sony Aibo 2 (1 unit):  Sony’s artificial intelligent companion robotic dog.

Sensory Systems
The ART-Med lab also provides diverse multi-modal sensors for effective and creative human-robot interaction, including the followings:

• Visual/Depth sensors: Microsoft Kinect V1 / V2 for Windows (4 units) / MS Realsens SR300 (3 units)
• Tobii Eye-tracker (Mobile ) (2 units).
• Embedded depth sensors: Intel RealSense (2 units) depth cameras, ZED Stereovision Depth Camera (1 unit), and AZURE Kinect RGB+D camera (1 unit).
• Brain-Computer Interface: Emotiv EPOC+ headsets (2 units), felt sensors, EPOC hydrator pack, and Simulink EEG importer.
• E4 wrist sensor: E4 wristband (1 unit) for real-time physiological data acquisition.
• Xsens MVN Wearable Motion Sensor system: Xsens 3D motion tracking system (17 IMUs + 3 wearable suits) with Analyze software (lifetime license).

 
Haptic and Augmented-Reality (AR) Interfaces
The following haptic interfaces and AR devices is equipped for interactive multi-modal communication for human users.

• Haptic devices: Geomagic Touch (1 unit, previously named SensAble Phantom Omni) and Force Dimension Omega 7 (1 unit)
• Microsoft Hololens 1&2 augmented-reality (AR) interface (3 units)
• HTC Vibe VR headset and Lighthouse trackers
• Oculus Quest2

 
Computing and Prototyping Facility
Multiple computing platforms with diverse operating system support (Windows, Mac, and Linux) are provided in the ART-Med lab., with prototyping support and embedded systems.

• High-end PCs: Intel I7 quad-core processor-based desktops with NVidia GPUs (6 units)
• Deep learning workstation: Lambda GPU workstation for deep learning with 4 A5000 GPUs (1 unit), and Lambda GPU workstation for deep learning with 3 A6000 GPUs (1 unit).
• Mobile computing: laptops with i7 processor and NVidia GPU (4 units), Macbook Pro (1 unit),  iMac (1 unit), Mac Mini (1 unit), Mac Display (1 unit)
• Mobile devices: iPod Touch (4 units), Samsung Galaxy Tab 4 (4 units).
• 3D printer: Ultimaker 2 (2 units), FlashForge Adventurer 4 (1 unit)
• Other electronic devices and embedded systems.