52 results found
Morland MFE, Althoefer K, Nanayakkara T, 2015, Novel method to form adaptive internal impedance profiles in walkers, 2015 37TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), Pages: 7764-7767, ISSN: 1557-170X
Ranasinghe A, Dasgupta P, Althoefer K, et al., 2015, Identification of Haptic Based Guiding Using Hard Reins., PLoS One, Vol: 10
This paper presents identifications of human-human interaction in which one person with limited auditory and visual perception of the environment (a follower) is guided by an agent with full perceptual capabilities (a guider) via a hard rein along a given path. We investigate several identifications of the interaction between the guider and the follower such as computational models that map states of the follower to actions of the guider and the computational basis of the guider to modulate the force on the rein in response to the trust level of the follower. Based on experimental identification systems on human demonstrations show that the guider and the follower experience learning for an optimal stable state-dependent novel 3rd and 2nd order auto-regressive predictive and reactive control policies respectively. By modeling the follower's dynamics using a time varying virtual damped inertial system, we found that the coefficient of virtual damping is most appropriate to explain the trust level of the follower at any given time. Moreover, we present the stability of the extracted guiding policy when it was implemented on a planar 1-DoF robotic arm. Our findings provide a theoretical basis to design advanced human-robot interaction algorithms applicable to a variety of situations where a human requires the assistance of a robot to perceive the environment.
Calinon S, Bruno D, Malekzadeh MS, et al., 2014, Human-robot skills transfer interfaces for a flexible surgical robot, COMPUTER METHODS AND PROGRAMS IN BIOMEDICINE, Vol: 116, Pages: 81-96, ISSN: 0169-2607
Jiang A, Ranzani T, Gerboni G, et al., 2014, Robotic Granular Jamming: Does the Membrane Matter?, SOFT ROBOTICS, Vol: 1, Pages: 192-201, ISSN: 2169-5172
Konstantinova J, Li M, Mehra G, et al., 2014, Behavioral Characteristics of Manual Palpation to Localize Hard Nodules in Soft Tissues, IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, Vol: 61, Pages: 1651-1659, ISSN: 0018-9294
Cianchetti M, Ranzani T, Gerboni G, et al., 2014, Soft Robotics Technologies to Address Shortcomings in Today's Minimally Invasive Surgery: The STIFF-FLOP Approach, SOFT ROBOTICS, Vol: 1, Pages: 122-131, ISSN: 2169-5172
Zheng M, Sadati SMH, Ghalamchi P, et al., 2014, Passive dynamics of high frequency bat wing flapping with an anisotropic membrane
© 2014 IEEE. We investigate how unmanned aerial vehicles (UAVs) with flexible wings can be designed to exploit the aeroelasticity of wing deformation that is present in bat wings, with a view to improve the efficiency of flight. We constructed a robotic bat wing with fully passive elastic wing-folding properties. The robotic wing is powered by a gearbox running two synchronised motors, effectively providing one degree of motion: the upstroke and down-stroke of the wing. Through numerical simulations and setup experiments, we observed that by integrating a span-wise elastic network into the bat wing, we were able to achieve passive wing-folding that mimics the 8-shape wing-folding seen in bats' high speed flight. This way, we were able to reduce the complexity and additional actuation associated with wing-folding in a robotic wing.
Jiang A, Aste T, Dasgupta P, et al., 2014, GRANULAR JAMMING WITH HYDRAULIC CONTROL, ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), Publisher: AMER SOC MECHANICAL ENGINEERS
Konstantinova J, Jiang A, Althoefer K, et al., 2014, Implementation of tactile sensing for palpation in robot-assisted minimally invasive surgery: A review, IEEE Sensors Journal, Vol: 14, Pages: 2490-2501, ISSN: 1530-437X
Robot-assisted minimally invasive surgery (RMIS) made it possible to perform a number of medical manipulations with reduced patient trauma and better accuracy. Various devices, including tactile sensors, have been developed in recent years to enhance the quality of this procedure. The objective of this paper is to review the latest advancements and challenges in the development of tactile sensing devices designed for surgical applications. In particular, the focus is on palpation and probing devices that can be potentially used in RMIS. In addition, we explore the aspects that should be taken into account when designing tactile sensors for RMIS, incorporating biological inspiration of tactile sensing, features of manual palpation, requirements of RMIS. We provide an overview of recommendations for the development of tactile sensing devices, especially in the context of RMIS. © 2001-2012 IEEE.
Song X, Liu H, Althoefer K, et al., 2014, Efficient break-away friction ratio and slip prediction based on haptic surface exploration, IEEE Transactions on Robotics, Vol: 30, Pages: 203-219, ISSN: 1552-3098
The break-away friction ratio (BF-ratio), which is the ratio between friction force and the normal force at slip occurrence, is important for the prediction of incipient slip and the determination of optimal grasping forces. Conventionally, this ratio is assumed constant and approximated as the static friction coefficient. However, this ratio varies with acceleration rates and force rates applied to the grasped object and the object material, which lead to difficulties in determining optimal grasping forces that avoid slip. In this paper, we propose a novel approach based on the interactive forces to allow a robotic hand to predict object slip before its occurrence. The approach only requires the robotic hand to have a short haptic surface exploration over the object surface before manipulating it. Then, the frictional properties of the finger-object contact can be efficiently identified, and the BF-ratio can be real-time predicted to predict slip occurrence under dynamic grasping conditions. Using the predicted BF-ratio as a slip, threshold is demonstrated to be more accurate than using the static/Coulomb friction coefficient. The presented approach has been experimentally evaluated on different object surfaces, showing good performance in terms of prediction accuracy, robustness, and computational efficiency. © 2013 IEEE.
Jiang A, Adejokun S, Faragasso A, et al., 2014, The granular jamming integrated actuator, International Conference on Advanced Robotics and Intelligent Systems (ARIS), Publisher: IEEE, Pages: 12-17, ISSN: 2374-3255
Konstantinova J, Li M, Aminzadeh V, et al., 2013, Force-velocity modulation strategies for soft tissue examination, Pages: 1998-2003, ISSN: 2153-0858
Advanced tactile tools in minimally invasive surgery have become a pressing need in order to reduce time and improve accuracy in localizing potential tissue abnormalities. In this regard, one of the main challenges is to be able to estimate tissue parameters in real time. In palpation, tactile information felt at a given location is identified by the viscoelastic dynamics of the neighboring tissue. Due to this reason the tissue examination behavior and the distribution of viscoelastic parameters in tissue should be considered in conjunction. This paper investigates the salient features of palpation behavior on soft tissue determining the effectiveness of localizing hard nodules. Experimental studies involving human participants, and validation tests using finite element simulations and a tele-manipulator, were carried out. Two distinctive tissue examination strategies in force-velocity modulation for the given properties of target tissue were found. Experimental results suggest that force-velocity modulations during continuous path measurements are playing an important role in the process of mechanical soft tissue examination. These behavioral insights, validated by detailed numerical models and robotic experimentations shed light on future designs of optimal robotic palpation. © 2013 IEEE.
Taylor JG, Cutsuridis V, Hartley M, et al., 2013, Observational Learning: Basis, Experimental Results and Models, and Implications for Robotics, COGNITIVE COMPUTATION, Vol: 5, Pages: 340-354, ISSN: 1866-9956
Jiang A, Aste T, Dasgupta P, et al., 2013, Granular Jamming Transitions for a Robotic Mechanism, 7th International Conference on Micromechanics of Granular Media (Powders and Grains), Publisher: AMER INST PHYSICS, Pages: 385-388, ISSN: 0094-243X
Konstantinova J, Li M, Aminzadeh V, et al., 2013, Evaluating Manual Palpation Trajectory Patterns in Tele-Manipulation for Soft Tissue Examination, IEEE International Conference on Systems, Man, and Cybernetics (SMC), Publisher: IEEE, Pages: 4190-4195, ISSN: 1062-922X
Godage IS, Nanayakkara T, Caldwell DG, 2012, Locomotion with continuum limbs, Pages: 293-298, ISSN: 2153-0858
This paper presents the kinematics, dynamics, and experimental results for a novel quadruped robot using continuum limbs. We propose soft continuum limbs as a new paradigm for robotic locomotion in unstructured environments due to their potential to generate a wide array of locomotion behaviors ranging from walking, trotting, crawling, and propelling to whole arm grasping as a means of negotiating difficult obstacles. A straightforward method to derive the kinematics and dynamics for the proposed quadruped has been demonstrated through numerical simulations. Initial experiments on a prototype continuum quadruped demonstrate the ability to stand up from a flat-belly stance, absorb external disturbances such as maintaining stability after dropping from a height and after being perturbed by a collision, and crawling on flat and cluttered environments. Experiment results provide evidence that locomotion with soft continuum limbs are feasible and usable in unstructured environments for variety of applications. © 2012 IEEE.
Jiang A, Xynogalas G, Dasgupta P, et al., 2012, Design of a variable stiffness flexible manipulator with composite granular jamming and membrane coupling, Pages: 2922-2927, ISSN: 2153-0858
Robotic manipulators for minimally invasive surgeries have traditionally been rigid, with a steerable end effector. While the rigidity of manipulators improve precision and controllability, it limits reachability and dexterity in constrained environments. Soft manipulators with controllable stiffness on the other hand, can be deployed in single port or natural orifice surgical applications to reach a wide range of areas inside the body, while being able to passively adapt to uncertain external forces, adapt the stiffness distribution to suit the kinematic and dynamic requirements of the task, and provide flexibility for configuration control. Here, we present the design of a snake-like laboratory made soft robot manipulator of 20 mm in average diameter, which can actuate, soften, or stiffen joints independently along the length of the manipulator by combining granular jamming with McKibben actuators. It presents a comprehensive study on the relative contributions of the granule size, material type, and membrane coupling on the range, profile, and variability of stiffness. © 2012 IEEE.
Jiang A, Ataollahi A, Althoefer K, et al., 2012, A VARIABLE STIFFNESS JOINT BY GRANULAR JAMMING, ASME International Design Engineering Technical Conferences/Computers Information in Engineering Conference, Publisher: AMER SOC MECHANICAL ENGINEERS, Pages: 267-+
Nanayakkara T, Byl K, Liu H, et al., 2012, Dominant Sources of Variability in Passive Walking, IEEE International Conference on Robotics and Automation (ICRA), Publisher: IEEE, Pages: 1003-1010, ISSN: 1050-4729
Liu H, Song X, Nanayakkara T, et al., 2012, A computationally fast algorithm for local contact shape and pose classification using a tactile array sensor, Pages: 1410-1415, ISSN: 1050-4729
This paper proposes a new computationally fast algorithm for classifying the primitive shape and pose of the local contact area in real-time using a tactile array sensor attached on a robotic fingertip. The proposed approach abstracts the lower structural property of the tactile image by analyzing the covariance between pressure values and their locations on the sensor and identifies three orthogonal principal axes of the pressure distribution. Classifying contact shapes based on the principal axes allows the results to be invariant to the rotation of the contact shape. A naïve Bayes classifier is implemented to classify the shape and pose of the local contact shapes. Using an off-shelf low resolution tactile array sensor which comprises of 5x9 pressure elements, an overall accuracy of 97.5% has been achieved in classifying six primitive contact shapes. The proposed method is very computational efficient (total classifying time for a local contact shape = 576μs (1736 Hz)). The test results demonstrate that the proposed method is practical to be implemented on robotic hands equipped with tactile array sensors for conducting manipulation tasks where real-time classification is essential. © 2012 IEEE.
Dias MB, Mills-Tettey GA, Nanayakkara T, 2005, Robotics, education, and sustainable development, IEEE International Conference on Robotics and Automation (ICRA), Publisher: IEEE, Pages: 4248-4253, ISSN: 1050-4729
Ariff G, Donchin O, Nanayakkara T, et al., 2002, A real-time state predictor in motor control: study of saccadic eye movements during unseen reaching movements., J Neurosci, Vol: 22, Pages: 7721-7729
Theoretical motor control predicts that because of delays in sensorimotor pathways, a neural system should exist in the brain that uses efferent copy of commands to the arm, sensory feedback, and an internal model of the dynamics of the arm to predict the future state of the hand (i.e., a forward model). We tested this theory under the hypothesis that saccadic eye movements, tracking an unseen reaching movement, would reflect the output of this state predictor. We found that in unperturbed reaching movements, saccade occurrence at any time t consistently provided an unbiased estimate of hand position at t + 196 msec. To investigate the behavior of this predictor during feedback error control, we applied 50 msec random-force perturbations to the moving hand. Saccades showed a sharp inhibition at 100 msec after perturbation. At approximately 170 msec, there was a sharp increase in saccade probabilities. These postperturbation saccades were an unbiased estimator of hand position at saccade time t + 150 msec. The ability of the brain to guide saccades to the future position of the hand failed when a force field unexpectedly changed the dynamics of the hand immediately after perturbation. The behavior of the eyes suggested that during reaching movements, the brain computes an estimate of future hand position based on an internal model that relies on real-time proprioceptive feedback. When an error occurs in reaching movements, the estimate of future hand position is recomputed. The saccade inhibition period that follows the hand perturbation may indicate the length of time it takes for this computation to take place.
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