Abstract: Manual polishing has problems such as high labor intensity, low production efficiency and difficulty in guaranteeing the consistency of polishing quality. The use of robot polishing instead of manual polishing can effectively avoid these problems. Polishing force directly affects the quality of polishing, so accurate tracking and control of polishing force is one of the most important conditions for improving the accuracy of robot polishing. The traditional force control strategy is difficult to adapt to the strong coupling of force control and position control during the robot polishing process. Therefore, based on the analysis of force-based impedance control and position-based impedance control, this paper proposed a type of adaptive controller. Based on force feedback control of active compliance control, the controller can adaptively estimate the stiffness and position of the external environment and eliminate the steady-state force error produced by traditional impedance control. The simulation results of the model show that the adaptive controller has good adaptability to changing environmental positions and environmental stiffness, and can accurately track and control polishing force.
Abstract: Robotic surgery is used to enhance minimally invasive
surgical procedure. It provides greater degree of freedom for surgical
tools but lacks of haptic feedback system to provide sense of touch to
the surgeon. Surgical robots work on master-slave operation, where
user is a master and robotic arms are the slaves. Current, surgical
robots provide precise control of the surgical tools, but heavily rely
on visual feedback, which sometimes cause damage to the inner
organs. The goal of this research was to design and develop a realtime
Simulink based robotic system to study force feedback
mechanism during instrument-object interaction. Setup includes three
VelmexXSlide assembly (XYZ Stage) for three dimensional
movement, an end effector assembly for forceps, electronic circuit for
four strain gages, two Novint Falcon 3D gaming controllers,
microcontroller board with linear actuators, MATLAB and Simulink
toolboxes. Strain gages were calibrated using Imada Digital Force
Gauge device and tested with a hard-core wire to measure
instrument-object interaction in the range of 0-35N. Designed
Simulink model successfully acquires 3D coordinates from two
Novint Falcon controllers and transfer coordinates to the XYZ stage
and forceps. Simulink model also reads strain gages signal through
10-bit analog to digital converter resolution of a microcontroller
assembly in real time, converts voltage into force and feedback the
output signals to the Novint Falcon controller for force feedback
mechanism. Experimental setup allows user to change forward
kinematics algorithms to achieve the best-desired movement of the
XYZ stage and forceps. This project combines haptic technology
with surgical robot to provide sense of touch to the user controlling
forceps through machine-computer interface.
Abstract: Current advancements in nanotechnology are dependent
on the capabilities that can enable nano-scientists to extend their eyes
and hands into the nano-world. For this purpose, a haptics (devices
capable of recreating tactile or force sensations) based system for
AFM (Atomic Force Microscope) is proposed. The system enables
the nano-scientists to touch and feel the sample surfaces, viewed
through AFM, in order to provide them with better understanding of
the physical properties of the surface, such as roughness, stiffness and
shape of molecular architecture. At this stage, the proposed work uses
of ine images produced using AFM and perform image analysis to
create virtual surfaces suitable for haptics force analysis. The research
work is in the process of extension from of ine to online process
where interaction will be done directly on the material surface for
realistic analysis.
Abstract: Current advancements in nanotechnology are dependent on the capabilities that can enable nano-scientists to extend their eyes and hands into the nano-world. For this purpose, a haptics (devices capable of recreating tactile or force sensations) based system for AFM (Atomic Force Microscope) is proposed. The system enables the nano-scientists to touch and feel the sample surfaces, viewed through AFM, in order to provide them with better understanding of the physical properties of the surface, such as roughness, stiffness and shape of molecular architecture. At this stage, the proposed work uses of ine images produced using AFM and perform image analysis to create virtual surfaces suitable for haptics force analysis. The research work is in the process of extension from of ine to online process where interaction will be done directly on the material surface for realistic analysis.
Abstract: Since the 1940s, many promising telepresence
research results have been obtained. However, telepresence
technology still has not reached industrial usage. As human
intelligence is necessary for successful execution of most manual
assembly tasks, the ability of the human is hindered in some cases,
such as the assembly of heavy parts of small/medium lots or
prototypes. In such a case of manual assembly, the help of industrial
robots is mandatory. The telepresence technology can be considered
as a solution for performing assembly tasks, where the human
intelligence and haptic sense are needed to identify and minimize the
errors during an assembly process and a robot is needed to carry
heavy parts. In this paper, preliminary steps to integrate the
telepresence technology into industrial robot systems are introduced.
The system described here combines both, the human haptic sense
and the industrial robot capability to perform a manual assembly task
remotely using a force feedback joystick. Mapping between the
joystick-s Degrees of Freedom (DOF) and the robot-s ones are
introduced. Simulation and experimental results are shown and future
work is discussed.
Abstract: One of the essential requirements in order to have a
realistic surgical simulator is real-time interaction by means of a
haptic interface is. In fact, reproducing haptic sensations increases
the realism of the simulation. However, the interaction need to be
performed in real-time, since a delay between the user action and the
system reaction reduces the user immersion. In this paper, we present
a prototype of the coronary stent implant simulator developed in the
HERMES Project; this system allows real-time interactions with a
artery by means of a specific haptic device; thus the user can
interactively navigate in a reconstructed artery and force feedback is
produced when contact occurs between the artery walls and the
medical instruments