Evaluation of Wearable Sensing in Mixed Reality for Mobile Teleoperation

Teleoperation platforms often require the user to be situated at a fixed location to both visualize and control the movement of the robot and thus do not provide the operator with much mobility. One example of such systems is in existing robotic surgery solutions that require the surgeons to be away from the patient, attached to consoles where their heads must be fixed and their arms can only move in a limited space. This creates a barrier between physicians and patients that does not exist in normal surgery. To address this issue, we propose a mobile telesurgery solution where the surgeons are no longer mechanically limited to control consoles and are able to teleoperate the robots from the patient bedside, using their arms equipped with wireless sensors and viewing the endoscope video via optical see-through HMDs. In this work, we develop and evaluate a mobile telesurgery system based on a Microsoft HoloLens HMD and using three Inertial Measurement Units (IMUs) mounted on the user's arm. Two IMUs are strapped to the upper arm and forearm, with the third IMU in a hand-held device. We perform experiments to compare the proposed system to a conventional telesurgery platform based on the master console of a da Vinci surgical system

A Review of Pneumatic Actuators Used for the Design of Medical Simulators and Medical Tools

International audienc

A Novel Exoskeleton Prototype Based on the Use of IMUs to Track and Mimic Motion

This thesis presents the development of a person-portable exoskeleton prototype which is designed to be controlled with Inertial Measurement Units (IMUs). It utilizes Euler angles calculated by the IMUs to track the rotation of the user’s forearm and then performs the same rotation, mimicking the user. Special care is taken with the prototype’s control algorithm to ignore changes in Euler angles caused by non-forearm rotations, which can otherwise cause erroneous prototype movements. The prototype is successful in demonstrating this method of control but does require the user to follow some specific guidelines to work at maximum effectiveness. Future iterations of the prototype can be easily improved by replacing some of the commercially available materials with more specialized ad-hoc products

NASA Automated Rendezvous and Capture Review. A compilation of the abstracts

This document presents a compilation of abstracts of papers solicited for presentation at the NASA Automated Rendezvous and Capture Review held in Williamsburg, VA on November 19-21, 1991. Due to limitations on time and other considerations, not all abstracts could be presented during the review. The organizing committee determined however, that all abstracts merited availability to all participants and represented data and information reflecting state-of-the-art of this technology which should be captured in one document for future use and reference. The organizing committee appreciates the interest shown in the review and the response by the authors in submitting these abstracts

Spacecraft 2000

The objective of the Workshop was to focus on the key technology area for 21st century spacecraft and the programs needed to facilitate technology development and validation. Topics addressed include: spacecraft systems; system development; structures and materials; thermal control; electrical power; telemetry, tracking, and control; data management; propulsion; and attitude control

Advanced Mobile Robotics: Volume 3

Mobile robotics is a challenging field with great potential. It covers disciplines including electrical engineering, mechanical engineering, computer science, cognitive science, and social science. It is essential to the design of automated robots, in combination with artificial intelligence, vision, and sensor technologies. Mobile robots are widely used for surveillance, guidance, transportation and entertainment tasks, as well as medical applications. This Special Issue intends to concentrate on recent developments concerning mobile robots and the research surrounding them to enhance studies on the fundamental problems observed in the robots. Various multidisciplinary approaches and integrative contributions including navigation, learning and adaptation, networked system, biologically inspired robots and cognitive methods are welcome contributions to this Special Issue, both from a research and an application perspective

Human Machine Interaction

In this book, the reader will find a set of papers divided into two sections. The first section presents different proposals focused on the human-machine interaction development process. The second section is devoted to different aspects of interaction, with a special emphasis on the physical interaction

Third International Symposium on Artificial Intelligence, Robotics, and Automation for Space 1994

The Third International Symposium on Artificial Intelligence, Robotics, and Automation for Space (i-SAIRAS 94), held October 18-20, 1994, in Pasadena, California, was jointly sponsored by NASA, ESA, and Japan's National Space Development Agency, and was hosted by the Jet Propulsion Laboratory (JPL) of the California Institute of Technology. i-SAIRAS 94 featured presentations covering a variety of technical and programmatic topics, ranging from underlying basic technology to specific applications of artificial intelligence and robotics to space missions. i-SAIRAS 94 featured a special workshop on planning and scheduling and provided scientists, engineers, and managers with the opportunity to exchange theoretical ideas, practical results, and program plans in such areas as space mission control, space vehicle processing, data analysis, autonomous spacecraft, space robots and rovers, satellite servicing, and intelligent instruments

Design and control of a nonlinearly compliant robotic finger

Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1997.Includes bibliographical references (p. 65-67).by Vinay Kishore Shah.M.S