BELGIUM Status Report 2011

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BELGIUM

Status Report 2011




















Yvan BAUDOIN

Royal Military School


June 2011



1. RESEARCH DOMAINS IN BELGIAN UNIVERSITIES


KUL (Katholieke Universiteit Leuven)


Ref: http://www.mech.kuleuven.be/pma/

Active EURON Co
-
Chair

:

Herman Bru
yninckx

IARP WG interest: medical sector and dependability

Eur IARP
-
like project in Mobile robotics: nihil


UCL (Universite catholique de Louvain
-
La
-
Neuve)


Ref

:
www.ucl.be


IARP WG Interest

: medical sector

(
http://come
te.meca.ucl.ac.be/cerem/fr/index.php/Image:EVOLAP_CAO.jpg
)





VUB (Vrije Universiteit Brussel)


Ref:
www.vub.be

IARP WG Interest: medical sector, Dependability

Contact:
Dirk.lefeber@vub.ac.be



Perform fundamental re
search on balance disorders and Develop several
products (training instruments, treatment devices)





R&MM is part of a concerted research funding by VUB to build a 15 DOF lower limb
exoskeleton (ALTACRO
-
project). One of the main research goals is balanc
e control of
paraplegic persons.

The control strategies vary from full robot in charge to full patient in charge strategies.
Intrinsic safety is obtained by using adaptable compliant actuators together with a so
called proxy
-
based sliding mode control.


R&MM is partner in the FP7 (strep) Viactors project. The group is responsible for the
development of a wearable exoskeleton actuated with variable impedance actuators for
lower limb paraplegic persons and for the development of a transfemural prosthesis.
C
urrently in such prosthesis the knee joint and the ankle joint are designed independently.
The goal is to use the dissipated energy at the knee joint and to transfer it to the ankle
joint, to mimic more a healthy gait.




R&MM developed within a FWO proje
ct with partners from KUL the ‘AMP
-
foot’. This
transtibial prosthesis is a passive device storing energy during the dorsiflexion phase and
restoring this energy during the plantarflexion phase while realising a passive push off.
Other prototypes are curren
tly developed using active elements in view of producing the
full ankle
-
torque of a healthy person.




R&MM developed the KNEXO, a knee
-
exoskeleton, as a proof of concept orthosis in
view of the development of the ALTACRO exoskeleton. The KNEXO is able to

produce
an actuation torque of 50Nm at the knee joint. The orthosis is used with a stroke and an
MS patient, controlled using a PSMC strategy. The data show a considerable
improvement of the gait caracteristics.





R&MM is producing the ‘POWEL’ orthosis
. This powered elbow orthosis is designed as
a post
-
operative device used to keep the elbow joint in motion to prevent the stiffening of
the joint. The motion parameters are recorded automatically and transferred to the
physiotherapist. During heeling the
use changes from motion to training where the
POWEL resist the motion of the patient. The orthosis is wearable and is intended to be
used at home.




R&MM is partner in the FP7(IP) CORBYS
-
project. The project develops a fully actuated
exoskeleton together

with a mobile device enabling trainng of paraplegic patients in a
realistic environment with accent to balancing and turning. Our main responsabilities in
this project are related to the design,the low level control strategies and part of the
testing.




R&MM will start in the near future the FP7 (strep) CYBERLEGS (
CYBER
netic
L
ow
E
r
-
Limb Co
G
nitive Ortho
-
prosthesi
s

) The know how on adaptable compliant actuators will
be used to develop together with the other partners a state of the art prosthesis coupled t
o
an active orthosis at the healty leg to provide more power to especially the elderly patient.



Design serious games modules to motivate the elderly



Within cognitive human robot interaction the R&MM group developed a 3D interactive
computer ‘PROBOGOTCH
I’ game.













In collaboration with the research group COMO, a 3D game (named Probo
-
Gotchi) is
developed based on the virtual model using the emotional modules from the RUI. This
game is based on the concept of virtual pets that change th
eir mood with user
interactions. The virtual pet, or virtual Probo in this case, has a set of internal needs
(hunger, health, affection, tiredness, pain, hygiene) that are influenced by different
actions of the user. The needs themselves influence the vale
nce and arousal dimension of
the emotional space, leading to an emotional feedback using facial expressions of the
robot.

Most of the actions are performed with a game controller, others are triggered by the user
interactions with a stuffed (real) version

of Probo equipped with touch sensors. This gives
the possibilities to explore haptic interaction and the concepts how needs control the
emotional state of Probo.

The game is developed for children but can easily be adapted to elderly.



Probo





http://probo.vub.ac.be/Pics_Video/


Probo is an intelligent huggy robot that is developed as research platform to study
cognitive human
-
robot interaction (cHRI) with a special focus on children. The robot
Probo
is designed to act as a social interface, providing a natural interaction while
employing human
-
like social cues and communication modalities. The robot has a fully
actuated head, with 20 degrees of freedom, capable of showing facial expressions. A
remarka
ble feature is the moving trunk and the soft and huggable jacket. A user friendly
Robotic User Interface (RUI) enables the operator to control the robot.


A strong multidisciplinary team has been formed to further extend the capabilities of the
robot. The

robot will be used as a research platform to gradually incorporate more
autonomy and intelligence. Probo is made accessible to the scientific community so that
it can play a supportive research role in technical areas (such as vision, speech, AI and
cogni
tion), medical areas (exploration of Robotic Assisted Therapy (RAT)) and
social/psychological areas (focus on HRI and emotional communication).


Currently research is done on using the robot in therapeutic sessions with autistic
children.



RMA (Royal Mil
itary Academy
)


http://mecatron.rma.ac.be

IARP WG Interest

: Hudem, RISE


European Projects in Mobile Robotics:

TIRAMISU and ICARUS (IP)


Toolbox Implementation for Removal of AP Mines, Submunitions and UXO


Clear
ing large civilian areas from anti
-
personnel landmines and cluster munitions is a
difficult problem because of the large diversity of hazardous areas and explosive
contamination. A single solution does not exist and many Mine Action actors have called
for
a toolbox from which they could choose the tools best fit to a given situation. Some
have built their own toolboxes, usually specific to their activities, such as clearance.


The TIRAMISU project aims at providing the foundation for a global toolbox that w
ill
cover the main Mine Action activities, from the survey of large areas to the actual
disposal of explosive hazards, including Mine Risk Education. The toolbox produced by
the project will provide Mine Action actors with a large set of tools, grouped int
o
thematic modules, which will help them to better perform their job. These tools will have
been designed with the help of end
-
users and validated by them in mine affected
countries.


Integrated Components for Assisted Rescue and Unmanned Search Operations


The ICARUS project deals with the development of a set of integrated components to
assist search and rescue teams for dealing with the difficult and dangerous, but life
-
saving
task of finding human survivors. The ICARUS tools consist of assistive unmanne
d air,
ground and sea vehicles, equipped with human detection sensors. The unmanned vehicles
collaborate as a coordinated team, communicating via ad hoc cognitive radio networking.
To ensure optimal human
-
robot collaboration, these ICARUS tools are seamles
sly
integrated into the C4I equipment of the human crisis managers and a set of training and
support tools is provided to the human crisis to learn to use the ICARUS system.



NMRS


EDA Project jun 2007
-
Jun 2009
-

ended June 2010



Implementation requested


This project NM
-
RS consistently focuses on robot groups to reduce the risk of personal
damage or loss of life and to increase efficiency for military operations like
re
connaissance, i
nspection and se
curity.

Partners:

Belgium

Royal Military Academy
-

Department of Mechanical
Engineering

Germany

Wehrtechnische Dienststelle für IT und Elektronik
-

GF 320

Italy

Ministero Della Difesa
-

Direzione Generale
degli
Armamenti
Terrestri

Spain

DGAM/SDG TECEN/ARI
-

R&T Cooperation Office


FPMs (Faculté Polytechnique de Mons)


Ref:
http://ressourcescms.fpms.ac.be/DocuWebFpms/BrochuresRD/RD2003.pdf



POC:
Pierre.dehombreux@fpms.ac.be



European Projects Mobile robotics: Nihil



2.
Indu
strial sector: AGORIA (
www.agoria.be
) FLANDERS
MECHATRONICS

CENTRE



idem 2010


POC

:
Jos.pinte@agoria.be

IARP WG Interest

: RISE for
Defense and Rescue
Sector


Flanders' Mechatronics Technology Centre vzw (FMTC) is a member organization with
the mission to jointly develop new and improve existing gener
ic mechatronic
competences and technologies to strengthen the competitive edge of its member
companies. Mechatronics combines mechanics, electronics, and software in an optimal
way to make products more modular, more intelligent, and more productive. FMTC'
s
ultimate measure of success is the actual utilization of its mechatronic technologies and
knowledge in members' products.

FMTC was founded by AGORIA, the Belgian technology industry federation, and
leading mechatronic companies in Flanders.

Atlas Copco,
Bekaert, Bluways, CNH, Dana, Gilbos, Hansen Transmissions, LMS, LVD,
NiniX Technologies, Pattyn Packing Lines, Picanol, Philips GTD Mechanization,
Teleservice Systems, Televic Rail, Van De Wiele and Van Hoecke Automation are
member companies of FMTC. The m
echanical engineering department of the Catholic
University of Leuven and Sirris are associated members of FMTC.

To achieve its mission, the centre conducts industry
-
driven
joint projects

and
contract
projects

in the following research clusters:
ecological machines
,
flexible machines

and
intelligent machines
.

For its operation, the centre is supported by the Flemish government (
IWT
)


3
.
IARP WS HUDEM’2011


IARP WS RISE’2011


The 9
th

IARP WS
HUDEM’2011 has been organized in Sibenik (April,
23) coupled with
the 8
th

International symposium on Humanitarian Demining, with 12 papers and 26
participants (from IARP, contribution from Poland, Italy, Belgium, UK, Spain)
www.ctro.hr
)


The next IARP WS RISE’2011 will be organized in Brussels/Leuven with the C
-
ELROB
competition (
www.elrob.org
)
with 21 papers, and 12 participating teams to ELROB
(contribution IARP from Russia, Belgium
, France, Poland, US, Spain, Germany, Italy)