Innovation of a Humanoid Robotic Wrist

Microbial Biotechnolog

Haptic-Enhanced Virtual Reality Simulator for Robot-Assisted Femur Fracture Surgery

In this paper, we develop a virtual reality (VR) simulator for the Robossis robot-assisted femur fracture surgery. Due to the steep learning curve for such procedures, a VR simulator is essential for training surgeon(s) and staff. The Robossis Surgical Simulator (RSS) is designed to immerse user(s) in a realistic surgery setting using the Robossis system as completed in a previous real-world cadaveric procedure. The RSS is designed to interface the Sigma-7 Haptic Controller with the Robossis Surgical Robot (RSR) and the Meta Quest VR headset. Results show that the RSR follows user commands in 6 DOF and prevents the overlapping of bone segments. This development demonstrates a promising avenue for future implementation of the Robossis system.Comment: This paper is submitted to the IEEE Haptic Symposium 202

Design and Experimental Evaluation of a Haptic Robot-Assisted System for Femur Fracture Surgery

In the face of challenges encountered during femur fracture surgery, such as the high rates of malalignment and X-ray exposure to operating personnel, robot-assisted surgery has emerged as an alternative to conventional state-of-the-art surgical methods. This paper introduces the development of Robossis, a haptic system for robot-assisted femur fracture surgery. Robossis comprises a 7-DOF haptic controller and a 6-DOF surgical robot. A unilateral control architecture is developed to address the kinematic mismatch and the motion transfer between the haptic controller and the Robossis surgical robot. A real-time motion control pipeline is designed to address the motion transfer and evaluated through experimental testing. The analysis illustrates that the Robossis surgical robot can adhere to the desired trajectory from the haptic controller with an average translational error of 0.32 mm and a rotational error of 0.07 deg. Additionally, a haptic rendering pipeline is developed to resolve the kinematic mismatch by constraining the haptic controller (user hand) movement within the permissible joint limits of the Robossis surgical robot. Lastly, in a cadaveric lab test, the Robossis system assisted surgeons during a mock femur fracture surgery. The result shows that Robossis can provide an intuitive solution for surgeons to perform femur fracture surgery.Comment: This paper is to be submitted to an IEEE journa

Design of a passive mechanism for machining purpose

RÉSUMÉ Ce mémoire présente une méthode d'usinage de panneaux double courbure utilisés dans les industries aéronautiques. En général, l'usinage de tels panneaux est réalisé par des méthodes chimiques. Cependant, étant donné que les méthodes chimiques génèrent des problèmes environnementaux,les industries aéronautiques ont préféré l'utilisation de méthodes mécaniques. Au cours des dernières années, plusieurs méthodes mécaniques ont été proposées. Certaines de ces méthodes utilisent deux appareils qui fonctionnent de manière synchrone, l'un est utilisé pour effectuer l'usinage, tandis que l'autre est utilisé comme support sur le côté opposé de la surface d'usinage. Ceci est connu comme la méthode de ‹‹mirror milling››. Ce mémoire propose un mécanisme passif permettant d’usiner les panneaux aéronautiques sans avoir besoin d’information précise sur la géométrie de la surface. Ce mécanisme est composé de trois système majeurs : Un mécanisme 3-PSP qui fournit l’orientation de l'outil de coupe sur la surface, système d’ajustement afin d’ajouter la profondeur de la coupe et un système de connexion qui sert à maintenir le contact entre l’outil de coupe et la surface.---------- ABSTRACT This thesis presents a method of machining double curvature panels used in aeronautic industries. Normally, the machining of such panels is performed by chemical methods, yet given that chemical methods generate environmental problems, aeronautic industries have preferred the use of mechanical methods. During recent years, several mechanical methods have been proposed. Some of these methods use two devices which work synchronously; one is used to perform the machining, while the other is used as a support at the opposite side of the machining surface. This is known as the mince milling method or mirror milling. This thesis proposes a compliant mechanism system allowing to machine aeronautic panels without requiring support at the opposite side of the surface. This mechanical system uses a 3-PSP topology with the cutting tool at its center. A compliant system is used for the orientation of the tool to maintain it normal to the surface to be machined. The machining device is connected to the cutting surface by three sliding pads. The pads provide contact surfaces around the cutting tool to support the machining zone without requiring any support from the opposite side

Symmetric Subspace Motion Generators

When moving an object endowed with continuous symmetry, an ambiguity arises in its underlying rigid body transformation, induced by the arbitrariness of the portion of motion that does not change the overall body shape. The functional redundancy caused by continuous symmetry is ubiquitously present in a broad range of robotic applications, including robot machining and haptic interface (revolute symmetry), remote center of motion devices for minimal invasive surgery (line symmetry), and motion modules for hyperredundant robots (plane symmetry). In this paper, we argue that such functional redundancy can be systematically resolved by resorting to symmetric subspaces (SSs) of the special Euclidean group SE(3), which motivates us to systematically investigate the structural synthesis of SS motion generators. In particular, we develop a general synthesis procedure that allows us to generate a wide spectrum of novel mechanisms for use in the applications mentioned

Rendering of Pressure and Textures Using Wearable Haptics in Immersive VR Environments

Haptic systems have only recently started to be designed with wearability in mind. Compact, unobtrusive, inexpensive, easy-to-wear, and lightweight haptic devices enable researchers to provide compelling touch sensations to multiple parts of the body, significantly increasing the applicability of haptics in many fields, such as robotics, rehabilitation, gaming, and immersive systems. In this respect, wearable haptics has a great potential in the fields of virtual and augmented reality. Being able to touch virtual objects in a wearable and unobtrusive way may indeed open new exciting avenues for the fields of haptics and VR. This work presents a novel wearable haptic system for immersive virtual reality experiences. It conveys the sensation of touching objects made of different materials, rendering pressure and texture stimuli through a moving platform and a vibrotactile abbrv-doi-hyperref-narrowmotor. The device is composed of two platforms: one placed on the nail side of the finger and one in contact with the finger pad, connected by three cables. One small servomotor controls the length of the cables, moving the platform towards or away from the fingertip. One voice coil actuator, embedded in the platform, provides vibrotactile stimuli to the user

Robot skill learning through human demonstration and interaction

Nowadays robots are increasingly involved in more complex and less structured tasks. Therefore, it is highly desirable to develop new approaches to fast robot skill acquisition. This research is aimed to develop an overall framework for robot skill learning through human demonstration and interaction. Through low-level demonstration and interaction with humans, the robot can learn basic skills. These basic skills are treated as primitive actions. In high-level learning, the complex skills demonstrated by the human can be automatically translated into skill scripts which are executed by the robot. This dissertation summarizes my major research activities in robot skill learning. First, a framework for Programming by Demonstration (PbD) with reinforcement learning for human-robot collaborative manipulation tasks is described. With this framework, the robot can learn low level skills such as collaborating with a human to lift a table successfully and efficiently. Second, to develop a high-level skill acquisition system, we explore the use of a 3D sensor to recognize human actions. A Kinect based action recognition system is implemented which considers both object/action dependencies and the sequential constraints. Third, we extend the action recognition framework by fusing information from multimodal sensors which can recognize fine assembly actions. Fourth, a Portable Assembly Demonstration (PAD) system is built which can automatically generate skill scripts from human demonstration. The skill script includes the object type, the tool, the action used, and the assembly state. Finally, the generated skill scripts are implemented by a dual-arm robot. The proposed framework was experimentally evaluated