Pub Date : 2016-11-28DOI: 10.1109/IROS.2016.7759086
T. Kishi, Takashi Nozawa, Ai Niibori, Hajime Futaki, Yusaku Miura, M. Shina, K. Matsuki, Hiroshi Yanagino, S. Cosentino, Kazuo Hashimoto, A. Takanishi
This paper describes the development of one DoF robotic hand that makes human laugh by tickling through rubbing underarm. Laughter is attracting research attention because it enhances health by treating or preventing mental diseases. However, laughter has not been used effectively in healthcare because the mechanism of laughter is complicated and is yet to be fully understood. The development of a robot capable of making humans laugh is useful for clarifying the mechanism of laughter because the stimuli by the robot is quantitative and reproductive. Especially, tickling matches to this purpose because the relationship between stimuli and reaction is simpler compared to other techniques. Therefore, this research aimed to develop a robotic hand that can output quantitative and reproductive tickling stimuli for clarifying the mechanism of laughter. Rubbing underarm is selected as a target motion of robot because previous research suggested that this is the best way for making humans feel ticklish. In order to achieve the tickling motion by robots as humans, the required specifications were determined through experimental method. In order to develop a robot that achieves the required fingertip trajectory by simple mechanisms as much as possible, mechanism with crank and link driven by single motor was developed. The result of experimental evaluation shows that the developed robot could make humans laugh by its rubbing motion. In addition, the quantitative tickling motion by developed robotic hand was suggested to be effective for clarifying the mechanism of laughter.
{"title":"One DoF robotic hand that makes human laugh by tickling through rubbing underarm","authors":"T. Kishi, Takashi Nozawa, Ai Niibori, Hajime Futaki, Yusaku Miura, M. Shina, K. Matsuki, Hiroshi Yanagino, S. Cosentino, Kazuo Hashimoto, A. Takanishi","doi":"10.1109/IROS.2016.7759086","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759086","url":null,"abstract":"This paper describes the development of one DoF robotic hand that makes human laugh by tickling through rubbing underarm. Laughter is attracting research attention because it enhances health by treating or preventing mental diseases. However, laughter has not been used effectively in healthcare because the mechanism of laughter is complicated and is yet to be fully understood. The development of a robot capable of making humans laugh is useful for clarifying the mechanism of laughter because the stimuli by the robot is quantitative and reproductive. Especially, tickling matches to this purpose because the relationship between stimuli and reaction is simpler compared to other techniques. Therefore, this research aimed to develop a robotic hand that can output quantitative and reproductive tickling stimuli for clarifying the mechanism of laughter. Rubbing underarm is selected as a target motion of robot because previous research suggested that this is the best way for making humans feel ticklish. In order to achieve the tickling motion by robots as humans, the required specifications were determined through experimental method. In order to develop a robot that achieves the required fingertip trajectory by simple mechanisms as much as possible, mechanism with crank and link driven by single motor was developed. The result of experimental evaluation shows that the developed robot could make humans laugh by its rubbing motion. In addition, the quantitative tickling motion by developed robotic hand was suggested to be effective for clarifying the mechanism of laughter.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132925786","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-27DOI: 10.1109/IROS.2016.7759640
Alexis Fortin-Côté, P. Cardou, A. Campeau-Lecours
Conventionally, a cable driven parallel mechanism (CDPM) pose is obtained through the forward kinematics from measurements of the cable lengths. However, this estimation method can be limiting for some applications requiring more precision. This paper proposes to use cable angle position sensors in addition to cable length measurements in order to improve the accuracy of such mechanisms. The robot pose is first obtained individually by the cable length measurements and the cable angle position measurements. A data fusion scheme combining these two types of measurements is then proposed in order to improve the CPDM accuracy. Finally, simulations and experiments are presented in order to assess the benefits of using cable angle position sensors on the CDPM.
{"title":"Improving cable driven parallel robot accuracy through angular position sensors","authors":"Alexis Fortin-Côté, P. Cardou, A. Campeau-Lecours","doi":"10.1109/IROS.2016.7759640","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759640","url":null,"abstract":"Conventionally, a cable driven parallel mechanism (CDPM) pose is obtained through the forward kinematics from measurements of the cable lengths. However, this estimation method can be limiting for some applications requiring more precision. This paper proposes to use cable angle position sensors in addition to cable length measurements in order to improve the accuracy of such mechanisms. The robot pose is first obtained individually by the cable length measurements and the cable angle position measurements. A data fusion scheme combining these two types of measurements is then proposed in order to improve the CPDM accuracy. Finally, simulations and experiments are presented in order to assess the benefits of using cable angle position sensors on the CDPM.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132676984","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-20DOI: 10.1109/IROS.2016.7759681
Jesus Briales, Javier González
Graph-based SLAM has proved to be one of the most effective solutions to the Simultaneous Localization and Mapping problem. This approach relies on nonlinear iterative optimization methods that in practice perform both accurately and efficiently. However, due to the non-convexity of the problem, the obtained solutions come with no guarantee of global optimality and may get stuck in local minima. The application of SLAM to many real-world applications cannot be conceived without additional control tools that detect possible suboptimalities as soon as possible in order to take corrective action and avoid catastrophic failure of the entire system. This paper builds upon the state-of-the-art framework in verification for this problem and introduces a novel superior formulation that leads to a much higher efficiency. While retaining the same high effectiveness, the verification times of our proposal reduce up to >50x, paving the way for faster verification in critical real applications or in embedded low-power systems. We support our claims with extensive experiments with real and simulated data.
{"title":"Fast global optimality verification in 3D SLAM","authors":"Jesus Briales, Javier González","doi":"10.1109/IROS.2016.7759681","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759681","url":null,"abstract":"Graph-based SLAM has proved to be one of the most effective solutions to the Simultaneous Localization and Mapping problem. This approach relies on nonlinear iterative optimization methods that in practice perform both accurately and efficiently. However, due to the non-convexity of the problem, the obtained solutions come with no guarantee of global optimality and may get stuck in local minima. The application of SLAM to many real-world applications cannot be conceived without additional control tools that detect possible suboptimalities as soon as possible in order to take corrective action and avoid catastrophic failure of the entire system. This paper builds upon the state-of-the-art framework in verification for this problem and introduces a novel superior formulation that leads to a much higher efficiency. While retaining the same high effectiveness, the verification times of our proposal reduce up to >50x, paving the way for faster verification in critical real applications or in embedded low-power systems. We support our claims with extensive experiments with real and simulated data.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"155 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116921303","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-10DOI: 10.1109/IROS.2016.7759230
Mylène Campana, J. Laumond
This paper addresses the motion planning problem of a jumping point-robot. Each jump consists in a ballistic motion linking two positions in contact with obstacle surfaces. A solution path is thus a sequence of parabola arcs. The originality of the approach is to consider non-sliding constraints at contact points: slipping avoidance is handled by constraining takeoff and landing velocity vectors to 3D friction cones. Furthermore the magnitude of these velocities is bounded. The ballistic motion lying in a vertical plane, we transform the 3D problem into a 2D one. We then solve the motion equations. The solution gives rise to an exact steering method computing a jump path between two contact points while respecting all constraints. The method is integrated into a standard probabilistic roadmap planner. Probabilistic completeness is proven. Simulations illustrate the performance of the approach.
{"title":"Ballistic motion planning","authors":"Mylène Campana, J. Laumond","doi":"10.1109/IROS.2016.7759230","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759230","url":null,"abstract":"This paper addresses the motion planning problem of a jumping point-robot. Each jump consists in a ballistic motion linking two positions in contact with obstacle surfaces. A solution path is thus a sequence of parabola arcs. The originality of the approach is to consider non-sliding constraints at contact points: slipping avoidance is handled by constraining takeoff and landing velocity vectors to 3D friction cones. Furthermore the magnitude of these velocities is bounded. The ballistic motion lying in a vertical plane, we transform the 3D problem into a 2D one. We then solve the motion equations. The solution gives rise to an exact steering method computing a jump path between two contact points while respecting all constraints. The method is integrated into a standard probabilistic roadmap planner. Probabilistic completeness is proven. Simulations illustrate the performance of the approach.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124020275","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-10DOI: 10.1109/IROS.2016.7759109
Burak Yuksel, Gabriele Buondonno, A. Franchi
In this paper we introduce a particularly relevant class of aerial manipulators that we name protocentric. These robots are formed by an underactuated aerial vehicle, a planar-Vertical Take-Off and Landing (PVTOL), equipped with any number of different parallel manipulator arms with the only property that all the first joints are attached at the Center of Mass (CoM) of the PVTOL, while the center of actuation of the PVTOL can be anywhere. We prove that protocentric aerial manipulators (PAMs) are differentially flat systems regardless the number of joints of each arm and their kinematic and dynamic parameters. The set of flat outputs is constituted by the CoM of the PVTOL and the absolute orientation angles of all the links. The relative degree of each output is equal to four. More amazingly, we prove that PAMs are differentially flat even in the case that any number of the joints are elastic, no matter the internal distribution between elastic and rigid joints. The set of flat outputs is the same but in this case the total relative degree grows quadratically with the number of elastic joints. We validate the theory by simulating object grasping and transportation tasks with unknown mass and parameters and using a controller based on dynamic feedback linearization.
{"title":"Differential flatness and control of protocentric aerial manipulators with any number of arms and mixed rigid-/elastic-joints","authors":"Burak Yuksel, Gabriele Buondonno, A. Franchi","doi":"10.1109/IROS.2016.7759109","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759109","url":null,"abstract":"In this paper we introduce a particularly relevant class of aerial manipulators that we name protocentric. These robots are formed by an underactuated aerial vehicle, a planar-Vertical Take-Off and Landing (PVTOL), equipped with any number of different parallel manipulator arms with the only property that all the first joints are attached at the Center of Mass (CoM) of the PVTOL, while the center of actuation of the PVTOL can be anywhere. We prove that protocentric aerial manipulators (PAMs) are differentially flat systems regardless the number of joints of each arm and their kinematic and dynamic parameters. The set of flat outputs is constituted by the CoM of the PVTOL and the absolute orientation angles of all the links. The relative degree of each output is equal to four. More amazingly, we prove that PAMs are differentially flat even in the case that any number of the joints are elastic, no matter the internal distribution between elastic and rigid joints. The set of flat outputs is the same but in this case the total relative degree grows quadratically with the number of elastic joints. We validate the theory by simulating object grasping and transportation tasks with unknown mass and parameters and using a controller based on dynamic feedback linearization.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122571186","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-10DOI: 10.1109/IROS.2016.7759273
M. Tognon, Andrea Testa, Enrica Rossi, Antonio Franchi
In this paper we face the challenging problem of takeoff and landing on sloped surfaces for a VTOL aerial vehicle. We define the general conditions for a safe and robust maneuver and we analyze and compare two classes of methods to fulfill these conditions: free-flight vs. passively-tethered. Focusing on the less studied tethered method, we show its advantages w.r.t. the free-flight method thanks to the possibility of inclined hovering equilibria. We prove that the tether configuration and the inclination of the aerial vehicle w.r.t. the slope are flat outputs of the system and we design a hierarchical nonlinear controller based on this property. We then show how this controller can be used to land and takeoff in a robust way without the need of either a planner or a perfect tracking. The validity and applicability of the method in the real world is shown by experiments with a quadrotor that is able to perform a safe landing and takeoff on a sloped surface.
{"title":"Takeoff and landing on slopes via inclined hovering with a tethered aerial robot","authors":"M. Tognon, Andrea Testa, Enrica Rossi, Antonio Franchi","doi":"10.1109/IROS.2016.7759273","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759273","url":null,"abstract":"In this paper we face the challenging problem of takeoff and landing on sloped surfaces for a VTOL aerial vehicle. We define the general conditions for a safe and robust maneuver and we analyze and compare two classes of methods to fulfill these conditions: free-flight vs. passively-tethered. Focusing on the less studied tethered method, we show its advantages w.r.t. the free-flight method thanks to the possibility of inclined hovering equilibria. We prove that the tether configuration and the inclination of the aerial vehicle w.r.t. the slope are flat outputs of the system and we design a hierarchical nonlinear controller based on this property. We then show how this controller can be used to land and takeoff in a robust way without the need of either a planner or a perfect tracking. The validity and applicability of the method in the real world is shown by experiments with a quadrotor that is able to perform a safe landing and takeoff on a sloped surface.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129044307","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-09DOI: 10.1109/IROS.2016.7759583
R. García, Pierre Luce-Vayrac, R. Chatila
Considering perception as an observation process only is the very reason for which robotic perception methods are to date unable to provide a general capacity of scene understanding. Related work in neuroscience has shown that there is a strong relationship between perception and action. We believe that considering perception in relation to action requires to interpret the scene in terms of the agent's own potential capabilities. In this paper, we propose a Bayesian approach for learning sensorimotor representations through the interaction between action and observation capabilities. We represent the notion of affordance as a probabilistic relation between three elements: objects, actions and effects. Experiments for affordances discovery were performed on a real robotic platform in an unsupervised way assuming a limited set of innate capabilities. Results show dependency relations that connect the three elements in a common frame: affordances. The increasing number of interactions and observations results in a Bayesian network that captures the relationships between them. The learned representation can be used for prediction tasks.
{"title":"Discovering affordances through perception and manipulation","authors":"R. García, Pierre Luce-Vayrac, R. Chatila","doi":"10.1109/IROS.2016.7759583","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759583","url":null,"abstract":"Considering perception as an observation process only is the very reason for which robotic perception methods are to date unable to provide a general capacity of scene understanding. Related work in neuroscience has shown that there is a strong relationship between perception and action. We believe that considering perception in relation to action requires to interpret the scene in terms of the agent's own potential capabilities. In this paper, we propose a Bayesian approach for learning sensorimotor representations through the interaction between action and observation capabilities. We represent the notion of affordance as a probabilistic relation between three elements: objects, actions and effects. Experiments for affordances discovery were performed on a real robotic platform in an unsupervised way assuming a limited set of innate capabilities. Results show dependency relations that connect the three elements in a common frame: affordances. The increasing number of interactions and observations results in a Bayesian network that captures the relationships between them. The learned representation can be used for prediction tasks.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124860648","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-09DOI: 10.1109/IROS.2016.7759596
O. Arenz, Hany Abdulsamad, G. Neumann
Optimal control is a powerful approach to achieve optimal behavior. However, it typically requires a manual specification of a cost function which often contains several objectives, such as reaching goal positions at different time steps or energy efficiency. Manually trading-off these objectives is often difficult and requires a high engineering effort. In this paper, we present a new approach to specify optimal behavior. We directly specify the desired behavior by a distribution over future states or features of the states. For example, the experimenter could choose to reach certain mean positions with given accuracy/variance at specified time steps. Our approach also unifies optimal control and inverse optimal control in one framework. Given a desired state distribution, we estimate a cost function such that the optimal controller matches the desired distribution. If the desired distribution is estimated from expert demonstrations, our approach performs inverse optimal control. We evaluate our approach on several optimal and inverse optimal control tasks on non-linear systems using incremental linearizations similar to differential dynamic programming approaches.
{"title":"Optimal control and inverse optimal control by distribution matching","authors":"O. Arenz, Hany Abdulsamad, G. Neumann","doi":"10.1109/IROS.2016.7759596","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759596","url":null,"abstract":"Optimal control is a powerful approach to achieve optimal behavior. However, it typically requires a manual specification of a cost function which often contains several objectives, such as reaching goal positions at different time steps or energy efficiency. Manually trading-off these objectives is often difficult and requires a high engineering effort. In this paper, we present a new approach to specify optimal behavior. We directly specify the desired behavior by a distribution over future states or features of the states. For example, the experimenter could choose to reach certain mean positions with given accuracy/variance at specified time steps. Our approach also unifies optimal control and inverse optimal control in one framework. Given a desired state distribution, we estimate a cost function such that the optimal controller matches the desired distribution. If the desired distribution is estimated from expert demonstrations, our approach performs inverse optimal control. We evaluate our approach on several optimal and inverse optimal control tasks on non-linear systems using incremental linearizations similar to differential dynamic programming approaches.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117005148","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-09DOI: 10.1109/IROS.2016.7759625
N. Blin, M. Taïx, P. Fillatreau, J. Fourquet
This work deals with interactive motion planning processes intended to assist a human operator when simulating industrial tasks such as assembly, maintenance or disassembly in Virtual Reality. Such applications need motion planning on surfaces. We propose an original interactive path planning algorithm with contact, I-RRT-C, based on a RRT-Connect approach. This algorithm is based on a real-time interactive approach allowing both an automatic motion planner and a human operator to jointly explore the workspace. A parameter balances the authority between the computer and the operator to reduce processing times. We improve the guidance by allowing to sample on the surfaces of obstacles. Our method allows to find a path in cluttered environments or to solve contact operations such as insertion or sliding tasks. Last, we present experimental results showing that our interactive path planner with contact brings a significant improvement over state of the art methods in both free and contact space.
{"title":"I-RRT-C: Interactive motion planning with contact","authors":"N. Blin, M. Taïx, P. Fillatreau, J. Fourquet","doi":"10.1109/IROS.2016.7759625","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759625","url":null,"abstract":"This work deals with interactive motion planning processes intended to assist a human operator when simulating industrial tasks such as assembly, maintenance or disassembly in Virtual Reality. Such applications need motion planning on surfaces. We propose an original interactive path planning algorithm with contact, I-RRT-C, based on a RRT-Connect approach. This algorithm is based on a real-time interactive approach allowing both an automatic motion planner and a human operator to jointly explore the workspace. A parameter balances the authority between the computer and the operator to reduce processing times. We improve the guidance by allowing to sample on the surfaces of obstacles. Our method allows to find a path in cluttered environments or to solve contact operations such as insertion or sliding tasks. Last, we present experimental results showing that our interactive path planner with contact brings a significant improvement over state of the art methods in both free and contact space.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116298814","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-09DOI: 10.1109/IROS.2016.7759768
F. Largilliere, E. Coevoet, Mario Sanz-Lopez, L. Grisoni, C. Duriez
Haptic rendering of soft bodies is essential in medical simulations of procedures such as surgery or palpation. The most commonly used approach is to recreate the sense of touch using a specific design and control of a robotic arm. In this paper, we propose a new approach, based on soft-robotics technology. We create a tangible deformable device that allows users to “touch” soft tissues and perceive mechanical material properties, in a realistic manner. The device is able to dynamically provide user touch with different stiffness perceptions, thanks to actuators placed at the boundaries. We introduce a control algorithm, based on inverse Finite Element Analysis, which controls the actuators in order to recreate a desired stiffness that corresponds to the contact with soft tissues in the virtual environment. The approach uses antagonistic actuation principle to create a wide range of stiffness. We validate our algorithm and demonstrate the method using prototypes based on simple mechanisms.
{"title":"Stiffness rendering on soft tangible devices controlled through inverse FEM simulation","authors":"F. Largilliere, E. Coevoet, Mario Sanz-Lopez, L. Grisoni, C. Duriez","doi":"10.1109/IROS.2016.7759768","DOIUrl":"https://doi.org/10.1109/IROS.2016.7759768","url":null,"abstract":"Haptic rendering of soft bodies is essential in medical simulations of procedures such as surgery or palpation. The most commonly used approach is to recreate the sense of touch using a specific design and control of a robotic arm. In this paper, we propose a new approach, based on soft-robotics technology. We create a tangible deformable device that allows users to “touch” soft tissues and perceive mechanical material properties, in a realistic manner. The device is able to dynamically provide user touch with different stiffness perceptions, thanks to actuators placed at the boundaries. We introduce a control algorithm, based on inverse Finite Element Analysis, which controls the actuators in order to recreate a desired stiffness that corresponds to the contact with soft tissues in the virtual environment. The approach uses antagonistic actuation principle to create a wide range of stiffness. We validate our algorithm and demonstrate the method using prototypes based on simple mechanisms.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131032831","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：