Torque Auditing Test Fixture for Hansen Medical’s Remote Catheter Manipulator Robot

Current manufacturing test systems for motor control of Hansen\u27s line of surgical robots are labor intensive, have room for operator error and do not supply sufficient information. Based upon an expected increase in production, the objective of this project was to replace their test protocol with a modular test fixture that improves test time, is intuitive to use, and enhances the user experience. We developed a modular design that works for both the Sensei and Magellan robots, and can be reconfigured easily for use on future robots. Using a control system and GUI made in LabVIEW, a magnetic particle as our torque actuator, and a Futek rotary torque sensor for precise data acquisition, our device is a creative, efficient, and effective replacement to Hansen’s quality testing. We successfully develop an equivalent test, surpassed our goal of decreasing test time, our fixture is completely modular for all Hansen’s RCMs, we integrated two tests into a single operation, and we received favorable feedback from the engineers and technicians whom proposed this project. This project succeeded in creating a functional prototype to replace Hansen Medical’s current test protocol. Our test system has been handed off to Hansen Medical for implementation and further development

The SSSA-MyHand: a dexterous lightweight myoelectric hand prosthesis

The replacement of a missing hand by a prosthesis is one of the most fascinating challenges in rehabilitation engineering. State of art prostheses are curtailed by the physical features of the hand, like poor functionality and excessive weight. Here we present a new multi-grasp hand aimed at overcoming such limitations. The SSSA-MyHand builds around a novel transmission mechanism that implements a semi-independent actuation of the abduction/adduction of the thumb and of the flexion/extension of the index, by means of a single actuator. Thus, with only three electric motors the hand is capable to perform most of the grasps and gestures useful in activities of daily living, akin commercial prostheses with up to six actuators, albeit it is as lightweight as conventional 1-Degrees of Freedom prostheses. The hand integrates position and force sensors and an embedded controller that implements automatic grasps and allows inter-operability with different human-machine interfaces. We present the requirements, the design rationale of the first prototype and the evaluation of its performance. The weight (478 g), force (31 N maximum force at the thumb fingertip) and speed of the hand (closing time: <370 ms), make this new design an interesting alternative to clinically available multi-grasp prostheses

Projeto e desenvolvimento da arquitetura de um robô agrícola móvel

Parameters such as tolerance, scale and agility utilized in data sampling for using in Precision Agriculture required an expressive number of researches and development of techniques and instruments for automation. It is highlighted the employment of methodologies in remote sensing used in coupled to a Geographic Information System (GIS), adapted or developed for agricultural use. Aiming this, the application of Agricultural Mobile Robots is a strong tendency, mainly in the European Union, the USA and Japan. In Brazil, researches are necessary for the development of robotics platforms, serving as a basis for semi-autonomous and autonomous navigation systems. The aim of this work is to describe the project of an experimental platform for data acquisition in field for the study of the spatial variability and development of agricultural robotics technologies to operate in agricultural environments. The proposal is based on a systematization of scientific work to choose the design parameters utilized for the construction of the model. The kinematic study of the mechanical structure was made by the virtual prototyping process, based on modeling and simulating of the tension applied in frame, using the.Parâmetros, como tolerância, escala e agilidade empregados na amostragem de dados para uso em Agricultura de Precisão, exigem um expressivo número de pesquisas no desenvolvimento de instrumentos e técnicas para automação. Destacam-se a utilização de metodologias em sensoriamento remoto utilizadas em conjunto com o Sistema de Informação Geográfica (SIG), adaptados ou desenvolvidos para o uso agrícola. Visando a isso, a aplicação de Robôs Agrícolas Móveis é uma forte tendência, principalmente na União Europeia, EUA e Japão. No Brasil, pesquisas são necessárias para o desenvolvimento de plataformas robóticas, que sirvam de base para sistemas de navegação autônomos ou semiautônomos. O objetivo deste trabalho é descrever o projeto de uma plataforma experimental para a aquisição de dados em campo para o estudo da variabilidade espacial e desenvolvimento de tecnologias para operação de robôs em ambiente agrícola. A proposta baseia-se em uma sistematização de trabalhos científicos que norteiam a escolha dos parâmetros de projeto utilizados para a construção do modelo. O estudo cinemático da estrutura mecânica foi feito pelo processo de prototipagem virtual, baseado na modelagem e simulação das tensões aplicadas no chassi, utilizando o método dos elementos finitos, em função dos conceitos básicos de cinemática de robôs móveis e experiências em trabalhos anteriores.(FAPESP) São Paulo Research Foundation(CNPq) National Council of Scientific and Technological Developmen

Towards Autonomous Indoor Micro VTOL

Recent progress in sensor technology, data processing and integrated actuators has made the development of miniature flying robots fully possible. Micro VTOL1 systems represent a useful class of flying robots because of their strong capabilities for small-area monitoring, building exploration and intervention in hostile environments. In this paper, we emphasize the importance of the VTOL vehicle as a candidate for the high-mobility system emergence. In addition, we describe the approach that our lab2 has taken to micro VTOL evolving towards autonomy and present the mechanical design, dynamic modelling, sensing, and control of our indoor VTOL autonomous robot OS4.

Design and analysis of PM motor with semi-circle stator design using 2D-finite element analysis

This paper presents a basic approach to reduce an overall weight of selected PM motor. The approach is not based on normal sizing step by keeping the overall design in symmetry dimension, but by introducing semi-circle stator design. The investigation takes 12-slot/10-pole motor as a subject due to it symmetric winding disposition. Two designs are included, both having identical semi-circle stator but different in rotor configuration. Design 1 has a standard rotor design that equipped with 10-pole while Design 2 has a semi-circle rotor design following the stator design. This inherently result an even number of pole i.e. 5. From the investigation using 2D-Finite Element Analysis, an overall weight in PM motor can be theoretically reduced by having asymmetric design dimension. However, motor torque performance would deteriorate and unwanted noise may exist due to high cogging torque and high output torque ripple. A proper design procedure that includes parameter optimization and intelligent switching for optimum current excitation is required to restore the desired torque

Proceedings of the 4th field robot event 2006, Stuttgart/Hohenheim, Germany, 23-24th June 2006

Zeer uitgebreid verslag van het 4e Fieldrobotevent, dat gehouden werd op 23 en 24 juni 2006 in Stuttgart/Hohenhei