Towards an efficient haptic rendering using data-driven modeling

This thesis focuses on the optimisation of haptic rendering of interactions with deformable models. The research demonstrated that data-driven techniques can produce a real-time, accurate and complex simulation experience. Applications include, but not limited to, virtual training, rapid prototyping, virtual presence, and entertainment

Anthropomorphic surgical system for soft tissue robot-assisted surgery

Over the past century, abdominal surgery has seen a rapid transition from open procedures to less invasive methods such as laparoscopy and robot-assisted minimally invasive surgery (R-A MIS). These procedures have significantly decreased blood loss, postoperative morbidity and length of hospital stay in comparison with open surgery. R-A MIS has offered refined accuracy and more ergonomic instruments for surgeons, further minimising trauma to the patient.This thesis aims to investigate, design and prototype a novel system for R-A MIS that will provide more natural and intuitive manipulation of soft tissues and, at the same time, increase the surgeon's dexterity. The thesis reviews related work on surgical systems and discusses the requirements for designing surgical instrumentation. From the background research conducted in this thesis, it is clear that training surgeons in MIS procedures is becoming increasingly long and arduous. Furthermore, most available systems adopt a design similar to conventional laparoscopic instruments or focus on different techniques with debatable benefits. The system proposed in this thesis not only aims to reduce the training time for surgeons but also to improve the ergonomics of the procedure.In order to achieve this, a survey was conducted among surgeons, regarding their opinions on surgical training, surgical systems, how satisfied they are with them and how easy they are to use. A concept for MIS robotic instrumentation was then developed and a series of focus group meetings with surgeons were run to discuss it. The proposed system, named microAngelo, is an anthropomorphic master-slave system that comprises a three-digit miniature hand that can be controlled using the master, a three-digit sensory exoskeleton. While multi-fingered robotic hands have been developed for decades, none have been used for surgical operations. As the system has a human centred design, its relation to the human hand is discussed. Prototypes of both the master and the slave have been developed and their design and mechanisms is demonstrated. The accuracy and repeatability of the master as well as the accuracy and force capabilities of the slave are tested and discussed

Robotics 2010

Without a doubt, robotics has made an incredible progress over the last decades. The vision of developing, designing and creating technical systems that help humans to achieve hard and complex tasks, has intelligently led to an incredible variety of solutions. There are barely technical fields that could exhibit more interdisciplinary interconnections like robotics. This fact is generated by highly complex challenges imposed by robotic systems, especially the requirement on intelligent and autonomous operation. This book tries to give an insight into the evolutionary process that takes place in robotics. It provides articles covering a wide range of this exciting area. The progress of technical challenges and concepts may illuminate the relationship between developments that seem to be completely different at first sight. The robotics remains an exciting scientific and engineering field. The community looks optimistically ahead and also looks forward for the future challenges and new development

Proceedings of the 5th international conference on disability, virtual reality and associated technologies (ICDVRAT 2004)

The proceedings of the conferenc

Engineering derivatives from biological systems for advanced aerospace applications

The present study consisted of a literature survey, a survey of researchers, and a workshop on bionics. These tasks produced an extensive annotated bibliography of bionics research (282 citations), a directory of bionics researchers, and a workshop report on specific bionics research topics applicable to space technology. These deliverables are included as Appendix A, Appendix B, and Section 5.0, respectively. To provide organization to this highly interdisciplinary field and to serve as a guide for interested researchers, we have also prepared a taxonomy or classification of the various subelements of natural engineering systems. Finally, we have synthesized the results of the various components of this study into a discussion of the most promising opportunities for accelerated research, seeking solutions which apply engineering principles from natural systems to advanced aerospace problems. A discussion of opportunities within the areas of materials, structures, sensors, information processing, robotics, autonomous systems, life support systems, and aeronautics is given. Following the conclusions are six discipline summaries that highlight the potential benefits of research in these areas for NASA's space technology programs

Human-machine communication for educational systems design

This book contains the papers presented at the NATO Advanced Study Institute (ASI) on the Basics of man-machine communication for the design of educational systems, held August 16-26, 1993, in Eindhoven, The Netherland

Writing, Medium, Machine: Modern Technographies

Writing, Medium, Machine: Modern Technographies is a collection of thirteen essays by leading scholars which explores the mutual determination of forms of writing and forms of technology in modern literature. The essays unfold from a variety of historical and theoretical perspectives the proposition that literature is not less but more mechanical than other forms of writing: a transfigurative ideal machine. The collection breaks new ground archaeologically, unearthing representations in literature and film of a whole range of decisive technologies from the stereopticon through census-and slot-machines to the stock ticker, and from the Telex to the manipulation of genetic code and the screens which increasingly mediate our access to the world and to each other. It also contributes significantly to critical and cultural theory by investigating key concepts which articulate the relation between writing and technology: number, measure, encoding, encryption, the archive, the interface. Technography is not just a modern matter, a feature of texts that happen to arise in a world full of machinery and pay attention to that machinery in various ways. But the mediation of other machines has beyond doubt assisted literature to imagine and start to become the ideal machine it is always aspiring to be. Contributors: Ruth Abbott, John Attridge, Kasia Boddy, Mark Byron, Beci Carver, Steven Connor, Esther Leslie, Robbie Moore, Julian Murphet, James Purdon, Sean Pryor, Paul Sheehan, Kristen Treen