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Vibrational Feedback for a Teleoperated Continuum Robot with Non-contact Endoscope Localization

Current Directions in Biomedical Engineering 2024年第1期10卷 17-20页

作者： Fischer, Jonas Andreas, Daniel Beckerle, Philipp Mathis-Ullrich, Franziska Marzi, Christian Friedrich-Alexander-University of Erlangen-Nuremberg Autonomous Systems and Mechatronics Paul-Gordan-Strase 3/5 Erlangen91052 Germany Friedrich-Alexander-University of Erlangen-Nuremberg Autonomous Systems and Mechatronics Erlangen91052 Germany Friedrich-Alexander-University of Erlangen-Nuremberg Surgical Planning and Robotic Cognition Lab Erlangen91052 Germany Karlsruhe Institute of Technology Institute for Anthropomatics and Robotics - Intelligent Process Automation & Robotics Karlsruhe76131 Germany

Limited or absent haptic feedback is reported as a factor hindering the continued adoption of surgical robots. This article presents a proof of concept for vibrotactile feedback integrated into a continuum robot to explore whether such feedback improves spatial perception in surgical settings. The robot is equipped with a capacitive sensor for noncontact endoscope localization, enabling spatial awareness of the robot's tool center point (TCP) within the surgical environment. The data from the sensor is processed and transmitted to a bracelet worn by the user, which generates vibrotactile feedback. The bracelet contains four vibration motors providing tactile cues for navigation and positioning of the robot's TCP. All subsystems are integrated into a unified system to deliver vibrotactile feedback to the user. When the user maneuvers the TCP of the robot near an object, they receive vibrotactile feedback via the bracelet. Thereby, the intensity of vibration increases as the TCP approaches the object, and the direction of the obstacle is mapped on the bracelet. Initial functional tests were performed and prove the functionality of the proposed system. © 2024 by Walter de Gruyter Berlin/Boston.

关键词： Capacitive sensors

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Counterweight Mechanism of Prismatic Joint at 4-DOF PRRR Manipulator for robotic Charging Station (RoCharg-v1) 10

Counterweight Mechanism of Prismatic Joint at 4-DOF PRRR Man...

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10th International Conference on Computer, Control, Informatics and its Applications, IC3INA 2023

作者： Saputra, Hendri Maja Abdussalam, Bany Baskoro, Catur Hilman A.H.B. Nor, Nur Safwati Mohd Permadi, Tesya Rezaldi, Muhammad Yudhi National Research and Innovation Agency Research Center for Smart Mechatronics Bandung Indonesia Indonesia University of Education Electrical Engineering Bandung Indonesia Universiti Teknologi Malaysia Faculty of Mechanical Engineering Johor Malaysia Indonesia University of Education Industrial Automation and Robotic Engineering of Education Bandung Indonesia National Research and Innovation Agency Research Center for Data and Information Sciences Bandung Indonesia

ISBN: (纸本)9798350394870

The Counterweight Mechanism of the Prismatic Joint for a 4-DOF PRRR Manipulator in a robotic Charging Station (RoCharg-v1) has been investigated. This study aims to analyze a weight compensation mechanism using rotary springs for handling 4-DoF PRRR manipulators. In the designed manipulator configuration, the workload is centered on joint 1, so this research focuses on that prismatic joint. This study uses the general force balance method, which is influenced by gravity. The counterweight mechanism design is then proven through experimental tests to see the performance of the proposed system. The test results show that counterweights can reduce power at various actuator speeds, making the energy needed to move the manipulator more efficient. This research can contribute to developing technology for 4-DOF PRRR manipulators and their applications. © 2023 IEEE.

关键词： Manipulators

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Effect of IMU Sensor Positioning on 1-DOF Angle Measurement Accuracy for robotic Charging Station (RoCharg-v1) Manipulator 10

Effect of IMU Sensor Positioning on 1-DOF Angle Measurement ...

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10th International Conference on Computer, Control, Informatics and its Applications, IC3INA 2023

作者： Saputra, Hendri Maja Permadi, Tesya Baskoro, Catur Hilman A.H.B. Nor, Nur Safwati Mohd Abdussalam, Bany Rezaldi, Muhammad Yudhi Research Center for Smart Mechatronics National Research and Innovation Agency Bandung Indonesia Indonesia University of Education Industrial Automation and Robotic Engineering Education Bandung Indonesia Universiti Teknologi Malaysia Faculty of Mechanical Engineering Johor Malaysia University of Education Electrical Engineering Indonesia Bandung Indonesia Research Center for Data and Information Sciences National Research and Innovation Agency Bandung Indonesia

ISBN: (纸本)9798350394870

This study investigates the effect of IMU sensor positioning on 1-DoF angle measurement accuracy for a robotic charging station manipulator (RoCharg-v1). The accuracy and reliability of IMU sensors can vary due to noise, bias, calibration, and drift effects. Additionally, the position of IMU sensors can also affect accuracy. In this study, three IMU sensors were placed on the manipulator robot, and their readings were analyzed to determine the optimal sensor placement for accurate and reliable measurements. The results indicate that varying the position of IMU sensors can cause significant errors in angle measurement, while the signal response is minimally affected by positioning. Based on the experimental results, the optimal sensor position for this case is at the end of the robot arm. This research provides valuable insights into manipulator robot development and can serve as a basis for future research. © 2023 IEEE.

关键词： Manipulators

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Hierarchical Whole-body Control of the cable-Suspended Aerial Manipulator endowed with Winch-based Actuation

Hierarchical Whole-body Control of the cable-Suspended Aeria...

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IEEE International Conference on robotics and automation (ICRA)

作者： Yuri S. Sarkisov Andre Coelho Maihara G. Santos Min Jun Kim Dzmitry Tsetserukou Christian Ott Konstantin Kondak Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany Robotics and Mechatronics Group University of Twente Enschede The Netherlands Dextrous Robotics Inc. Memphis United States Instituto Tecnológico de Aeronáutica São José dos Campos Brazil Intelligent Robotic Systems Lab Korea Advanced Institute of Science and Technology (KAIST) Daejeon Korea Automation and Control Institute TU Wien Vienna Austria

During operation, aerial manipulation systems are affected by various disturbances. Among them is a gravitational torque caused by the weight of the robotic arm. Common propeller-based actuation is ineffective against such disturbances because of possible overheating and high power consumption. To overcome this issue, in this paper we propose a winch-based actuation for the crane-stationed cable-suspended aerial manipulator. Three winch-controlled suspension rigging cables produce a desired cable tension distribution to generate a wrench that reduces the effect of gravitational torque. In order to coordinate the robotic arm and the winch-based actuation, a model-based hierarchical whole-body controller is adapted. It resolves two tasks: keeping the robotic arm end-effector at the desired pose and shifting the system center of mass in the location with zero gravitational torque. The performance of the introduced actuation system as well as control strategy is validated through experimental studies.

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A Soft, Multi-Layer, Kirigami Inspired robotic Gripper with a Compact, Compression-Based Actuation System

A Soft, Multi-Layer, Kirigami Inspired Robotic Gripper with ...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Joao Buzzatto Junbang Liang Mojtaba Shahmohammadi Saori Matsunaga Rintaro Haraguchi Toshisada Mariyama Bruce A. MacDonald Minas Liarokapis Department of Mechanical and Mechatronics Engineering New Dexterity research group University of Auckland New Zealand Information Technology R&D Center Mitsubishi Electric Corporation Japan Advanced Technology R&D Center Mitsubishi Electric Corporation Japan Department of Electrical Computer and Software Engineering Centre for Automation and Robotic Engineering Science University of Auckland New Zealand

Over the last decade, a plethora of soft robotic devices have been proposed for the execution of complex grasping and dexterous manipulation tasks. Tasks requiring such increased dexterity are typically executed using fully-actuated, rigid end-effectors equipped with sophisticated sensing and controlled with complex control laws. The new class of soft robotic devices offers an alternative to the traditional end-effectors and facilitates the development of robotic grasping and manipulation solutions that are lightweight, safe to interact with, affordable, and easy to use and control. Within the class of soft robotic grippers and hands, promising recent developments were made in ultra-affordable, even disposable mechanisms based on origami and kirigami structures. This paper proposes a new kirigami-inspired robotic gripper geometry employing compression-based actuation. The compression actuation fundamentally differentiates this new design class from previous kirigami grippers, resulting in more compact robotic grippers with superior grasping capabilities. In particular, we investigate how the shapes of the internal cuts of the kirigami geometries can affect the gripper performance in terms of force exertion and grasping capabilities. A series of experiments are conducted to understand better the working principles behind this new type of kirigami grippers and experimentally validate their efficacy in the execution of complex, everyday life tasks. Further demonstrations of the gripper's capabilities include the pick-and-placing of human hair, egg yolk, and even liquids.

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Effect of IMU Sensor Positioning on 1-DOF Angle Measurement Accuracy for robotic Charging Station (RoCharg-v1) Manipulator

Effect of IMU Sensor Positioning on 1-DOF Angle Measurement ...

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International Conference on Computer, Control, Informatics and Its Applications (IC3INA)

作者： Hendri Maja Saputra Tesya Permadi Catur Hilman A.H.B. Baskoro Nur Safwati Mohd Nor Bany Abdussalam Muhammad Yudhi Rezaldi Research Center for Smart Mechatronics National Research and Innovation Agency Bandung Indonesia Industrial Automation and Robotic Engineering Education Indonesia University of Education Bandung Indonesia Faculty of Mechanical Engineering Universiti Teknologi Malaysia Johor Malaysia Electrical Engineering Indonesia University of Education Bandung Indonesia Research Center for Data and Information Sciences National Research and Innovation Agency Bandung Indonesia

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Employing Multi-Layer, Sensorised Kirigami Grippers for Single-Grasp Based Identification of Objects and Force Exertion Estimation

Employing Multi-Layer, Sensorised Kirigami Grippers for Sing...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Junbang Liang Joao Buzzatto Bryan Busby Ricardo V. Godoy Saori Matsunaga Rintaro Haraguchi Toshisada Mariyama Bruce A. MacDonald Minas Liarokapis Department of Mechanical and Mechatronics Engineering The New Dexterity research group The University of Auckland New Zealand The Information Technology R&D Center Mitsubishi Electric Corporation Japan The Advanced Technology R&D Center Mitsubishi Electric Corporation Japan Department of Electrical Computer and Soft-ware Engineering The Centre for Automation and Robotic Engineering Science The University of Auckland New Zealand

Soft robotic devices have been popular in handling intricate grasping and dexterous manipulation tasks, serving as an alternative to conventional, rigid end-effectors. These devices are relatively simple, lightweight, and cost-effective. Recently, kirigami based structures have been used to create low-cost and disposable soft robotic grippers and hands. These grippers undergo a complex post-contact reconfiguration and conform to an object's shape and size during grasping. In this paper, we explore this new class of soft robotic grippers by utilising them for single-grasp object classification and grasping force estimation. We install simplistic sensors on both the gripper and the actuation system to estimate the state of the kirigami gripper, and the collected data features are employed to train Random Forest models for identifying the grasped object. The classifier trained exhibits a high accuracy of 98 % in discriminating objects of various shapes. When handling food items, the classifier achieves an accuracy of 94 %, while in classifying transparent objects, the classifier obtained again a high accuracy of 97 %. Finally, object-specific force estimation models are triggered based on the classification decision of the Random Forest model to estimate the grasping force exerted by the gripper. These positive outcomes demonstrate the kirigami based robotic gripper's potential for object classification in a variety of circumstances, particularly where vision systems are not available or not reliable.

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Counterweight Mechanism of Prismatic Joint at 4-DOF PRRR Manipulator for robotic Charging Station (RoCharg-v1)

Counterweight Mechanism of Prismatic Joint at 4-DOF PRRR Man...

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International Conference on Computer, Control, Informatics and Its Applications (IC3INA)

作者： Hendri Maja Saputra Bany Abdussalam Catur Hilman A.H.B. Baskoro Nur Safwati Mohd Nor Tesya Permadi Muhammad Yudhi Rezaldi Research Center for Smart Mechatronics National Research and Innovation Agency Bandung Indonesia Electrical Engineering Indonesia University of Education Bandung Indonesia Faculty of Mechanical Engineering Universiti Teknologi Malaysia Johor Malaysia Industrial Automation and Robotic Engineering of Education Indonesia University of Education Bandung Indonesia Research Center for Data and Information Sciences National Research and Innovation Agency Bandung Indonesia

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An EMG-Based Objective Function for Human-in-the-Loop Optimization

An EMG-Based Objective Function for Human-in-the-Loop Optimi...

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： María Alejandra Díaz Sander De Bock Philipp Beckerle Jan Babič Tom Verstraten Kevin De Pauw Human Physiology and Sports Physiotherapy Research Group Brussels Human Robotic Research Center Vrije Universiteit Brussel Brussels Belgium Department of Electrical Engineering and the Department of Artificial Intelligence in Biomedical Engineering Institute of Autonomous Systems and Mechatronics Friedrich-Alexander-Universität Erlangen-Nürnberg Erlangen Germany Department of Automation Biocybernetics and Robotics Laboratory for Neuromechanics and Biorobotics Jožef Stefan Institute Ljubljana Slovenia Faculty of Electrical Engineering University of Ljubljana Ljubljana Slovenia Robotics and Multibody Mechanics Research Group Vrije Universiteit Brussel and Flanders Make Brussels Belgium

Advancements in wearable robots aim to improve the users' motion, performance, and comfort by optimizing, mainly, energetic cost (EC). However, EC is a noisy measurement with a physiological delayed response that requires long evaluation periods and wearing an uncomfortable mask. This study aims to estimate and minimize an EMG-based objective function that describes the natural energetic expenditure of individuals walking. This objective is assessed by combining multiple electromyography (EMG) variables from the EMG intensity and muscle synergies. To evaluate this objective function simply and repeatedly, we prescribed step frequency (SF) via a metronome and optimized this frequency to minimize muscle activity demands. Further, a linear mixed-effects model was fitted for EC, with the EMG variables as fixed-effects and a random intercept that varies by participant. After the model was fitted to the data, a cubic polynomial was used to identify the optimal SF that reduces the overall EMG-based objective function. Our analysis outlines that the proposed objective function is comparable to the EC during walking, the primary objective function used in human-in-the-loop optimization. Thus, this EMG-based objective function could be potentially used to optimize wearable robots and improve human-robot interaction.

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A Method of Visual Sensor Employment Planning for UAV Target Detection 28

A Method of Visual Sensor Employment Planning for UAV Target...

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第28届中国控制与决策会议

作者： Niu Yifeng Zhong Zhiwei Zhang Daibing Xi Yexun Liang Jianhong College of Mechatronics and Automation National University of Defense Technology Robotic Institute School of Mechanical Engineering and AutomationBeiHang University

ISBN: (纸本)9781467397155

Aiming at the wide variety of airborne visual sensor,this paper presents a method of visual sensor employment planning for UAV target ***,according to the adaptive range of the image recognition algorithm and the probability of target recognition,the reasonable position of airborne visual sensor is ***,the influence of external environment contrast and visibility for target detection or recognition is *** the model of a UAV sensor is proposed based on the characteristics of Bayesian probability *** effectiveness and feasibility of this method are indicated by simulation and practice experimental results.

关键词： Sensor Employment Planning Target Detection UAV Bayesian

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