Thesis Rehabilitation robotics (RIA) Robotics for Bioengineering Forefront research at PRISMA Lab and ICAROS Center

Transcription

1 Thesis Rehabilitation robotics (RIA)

2 RIA-1. Mechanical design of sensorized and under-actuated artificial hands with simulation and/or prototype tests The thesis work involves the study of kinematics of artificial hands and motion transmission mechanisms with the aim of mechanically implementing motion synergies. The work involves also hand sensorization using tactile sensors or alternatively current sensors at the motors to adjust contact forces. Introducing compliance in the mechanical structure is another aspect to be pursued. Thumb kinematics design Optimal number of motors we are investigating a solution with three motors Compliance at the joints Tactile sensors FBG technology, Optoelectronic technology Proximity sensors Arduino, 3D Printing, Software CAD (SolidWorks, Solid Edge, AutoCAD), Electronic prototype manufacturing, optoelectronic technology University of Campania "Luigi Vanvitelli" Aversa (Prof. Natale, Prof. Pirozzi) Tactile sensors FabLab Città della Scienza (Chiara Maiorino) Mechatronics, Manufacturing

3 Optimal number of motors investigating solutions with 3 motors 1st actuation: For the thumb rotation joint. The joint is directly and independently driven 2nd actuation: For the thumb flexion/extension. The thumb is underactuated and elastic materials integrated at the distal joint 3rd actuation: For finger flexion/extension The four fingers can be differentially driven by a multi-stage differential mechanism. Various differential mechanism can be utilized, like pulley, linkage or continuum mechanism The object Thumb I/M/R/L 1st actuation Thumb rotation L R M I L R M I 2nd actuation Thumb Flexion 3rd actuation Finger flexions T 3rd actuation Finger flexions 2nd actuation Thumb Flexion 1st actuation Thumb rotation pulley-based multi-stage differential mechanism Springs 3rd actuation Finger flexions compliant transmission based on springs

4 Compliance at the joints Hybrid Manufacturing of the Prisma Hand II a b c d e f g Gives the hand flexible and durable structure. All the compliant materials can be manufacture (flexible joint and tactile sensors) by one casting All the procedures can be done in the lab by ourselves, with some common equipment Due to the elastic joints, it is hard to exactly model the hand. Therefore, it offers a hand prototype to experiment new control methods (e. g. adaptive control) A step closer to soft robotics research, which is a hot topic with a lot of unsolved problem

5 RIA-2. Development of a hand simulator to optimize mechanical design and EMG control design of an anthropomorphic hand A study will be carried out on the association of the electromyographic signals to the motor skills of the human hand to interface the measured signals to different combinations of motor positions of the artificial hand. The objective is a smart activation of motor synergies to grasp different types of objects. Study of muscular synergies and coupling with robot hand motor synergies (design of motion transmission) EMG signal classification (PCA, LDA) V-REP, Communication interface, Matlab Artificial Neural Network(ANN), fuzzy classifier, Linear Discriminant Analysis (LDA), Self Organizing Map (SOM) and Support Vector Machines (SVM), FabLab Città della Scienza (Chiara Maiorino) Mechatronics, Manufacturing

6 RIA-3. Development of autonomous control modules for prostheses based on biomedical signals and device s proprioceptive sensors The thesis project foresees the development and implementation of control strategies based on electromyographic signals and shared control modalities merging EMG-based control and sensory feedback control. Development of a multimodal interface for hand control (electronic board) Sensor-based control strategies (force regulation, synergies activation) Shared control Arduino, EMG signal elaboration and classification, Voice control board, synergy-based control, kinematic control, C++ programming Second University of University of Campania "Luigi Vanvitelli" Aversa (Prof. Natale, Prof. Pirozzi) Tactile sensors FabLab Città della Scienza (Chiara Maiorino) Mechatronics, Manufacturing

7 RIA-4. Development of shared control strategies for rehabilitation and assistance systems The thesis will focus on the development of multimodal control interface involving motion tracking, voice command, EMG signals to develop shared control modalities for robotic assistance and rehabilitation Development of a multimodal interface for robot control (software integration of EMG signals, voice signals, robot control libraries) Sensor-based control strategies (variable impedance control) Human intention interpretation KUKA LWR Arm ROS, EMG signal elaboration and classification, Voice control board, Impedance control, C++ programming Fondazione Santa Lucia (Dott. Marco Molinari) IIT Genova (Prof. Darwin Caldwell)

8 RIA-5. Motion analysis for bimanual tasks The objective of the thesis is to measure human bimanual motion using a biokinetic suite and motion tracking systems, and to analyze the motion using statistical techniques for dimensionality reduction. Taxonomy of bimanual tasks Arm and hand tracking Dimesionality reduction of different configuration spaces Development of synergy-based cotrol strategies Xsense suite, Vicon, C++ programming, MATLAB, dimensionality reduction technique: Gaussian Mixture Models, LDA, PCA

9 Bimanual taxonomy and synergies

10 Thesis Surgical robotics (CHI)

11 CHI-1. Control algorithms based on multimodal visual information and image processing The objective of the thesis is to develop (semi-)autonomous control strategies for cutting and suturing based on tools detection and tracking, and on tissue deformation tracking. Detection and tracking of surgical tools by means of sensory fusion (position, vision) Tracking of deformable object/organs and structures Interaction force estimation using visual information Da Vinci Research Kit, cameras, stereo endoscope, Open CV, Kalman Filter, ROS, SOFA simulator Image processing software and methods INRIA Prof. Antoine Petit