Manipulator Development for Telediagnostics

Authors: Adam Kurnicki, Bartłomiej Stanczyk, Bartosz Kania

Abstract:

This paper presents development of the light-weight manipulator with series elastic actuation for medical telediagnostics (USG examination). General structure of realized impedance control algorithm was shown. It was described how to perform force measurements based mainly on elasticity of manipulator links.

Keywords: Telediagnostics, elastic manipulator, impedance control, force measurement.

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1094731

References:

[1] G. Herold, "Herold's Internal Medicine”, Vol 1 and 2, Lulu Enterprises Incorporated, 2011.
[2] A. De Santis, B. Siciliano, A. De Luca and A. Bicchi, "An atlas of physical human–robot interaction”, Mechanism and Machine Theory 43, 2008.
[3] J.-J. Park, S. Haddadin, J.-B. Song and A. Albu-Schäffer, "Designing optimally safe robot surface properties for minimizing the stress characteristics of human-robot collisions”, IEEE International Conference on Robotics and Automation, 2011, pp. 5413-5420.
[4] S. Haddadin, A. Albu-Schäffer and G. Hirzinger, "Safe physical human-robot interaction: measurements, analysis and new insights”, Robotics Research, Springer, 2011, pp. 395-407.
[5] G. Pratt and M. Williamson, "Series Elastic Actuators”, Proceedings of the IEEE International Conference on Intelligent Robots and Systems, 1995 pp., 399‐406.
[6] G. Hirzinger, N. Sporer, M. Schedl, J. Butterfaß, M. Grebenstein, "Torque-Controlled Lightweight Arms and ArticulatedHands: Do We Reach Technological Limits Now?” The International Journal of Robotics Research, Vol. 23, No. 4–5, 2004, pp. 331-340.
[7] http://www.barrett.com/robot/DS_WAM.pdf.
[8] V. Maheu, J. Frappier , P. S. Archambault, F. A. Routhier, "Evaluation of the JACO robotic arm: clinico-economic study for powered wheelchair users with upper-extremity disabilities”, Proc. 2011 IEEE Intl. Conf. on Rehabilitation Robotics (ICORR), 2011, pp. 1-5.
[9] G. Romer, H. J. A. Stuyt and A. Peters, "Cost- savings and economic benefits due to the assistive robotic manipulator (ARM)”, Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics, Chicago, IL, USA, 2005, pp 201-204.
[10] T. Lens, J. Kunz and O. Stryk, "Dynamic Modeling of the 4 DoF BioRob Series Elastic Robot Arm for Simulation and Control”, Proceedings of the Intl. Conf. on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010), Springer, 2010, pp. 497-508.
[11] http://mekabot.com/wiki/doku.php?id=user_guides:arm_a2r4.
[12] Stanczyk, B., "Development and Control of an Anthropomorphic Telerobotic System", Dissertation, Technische Universität München, 2006.