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14 Νοε 2013 (πριν από 3 χρόνια και 6 μήνες)

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Haptic Interfaces and Force
Control Robotic
Application in Medical and Industrial Contexts


Prof. Doo Yong Lee, KAIST

Prof. Rolf Johansson, Lund University

Dr. Magnus Annerstedt, LU, Dept Clinical
Sciences, Div. Surgery

Research Issues

time force control and planning for bimanual
robotic tasks.

Software architecture for haptic interfaces in medical
or industrial applications

Biomedical simulation methodologies and

Tissue modeling for haptic interaction between vein
and catheter

Tissue and organ modeling for haptic interaction in
ERCP simulation

** ERCP (Endoscopic Retrograde Cholangio

Research Interaction

Joint research project on the haptic interfaces
and force
control robotic application in both
medical and industrial contexts.

Mutual visits of research staff (including Ph.D.
course students) visiting KAIST and LU for
sabbatical or conducting the joint projects.

Ph.D. course students at KAIST and LU for
mutual visits to participate in the research for 6
months to 1 year.

Ph.D. graduates from KAIST and LU for
mutual visits for post
doctoral positions.

Research Issues

Haptic Interfaces

Haptic interfaces

play (or will play) in increasingly important role in
virtual manufacturing and for teaching/programming of force control

Force control


currently reaching industrial products and practices, as
an key technology to permit more flexible (compliant and error
tolerant and the like) and robust robot operation. Even if core
algorithms have been available for more than two decades, attempts to
use force control in real applications will create both generic and
specific problems. In this context, both the system design
including the algorithms, as well as the tools and methods needed for
analyzing and configuring the robot control with respect to the specific
application needs, will be of key importance.

This also includes the
user interaction

and the
programming methods

Haptic interfaces are not only important as such, they also need to be
considered in the context of programming virtual or real robots with
force interaction with the work piece.

Research Interaction

Ph.D. Programme

Ph.D. students visiting KAIST or LU and
vice versa

for research for 6
12 months

Motion control techniques, including non
linear control, observers, and system

time systems and implementation of control. Special attention on model
generation of control software, the engineering process, and the testability of the system
(even during operation).

Robot programming with emphasis on sensor based applications, ranging from
implementation of basic skills and up to more intelligent behaviors.

PostDoc Programme

Ph.D. graduates from KAIST visiting LU and
vice versa

for post
doctoral research

With knowledge and experience from some of the above topics, a postdoc research will
give opportunities to work on advanced topics that spans over tow of more research
areas. Special attention should be paid to the reusability and reproducibility of
technologies and results respectively. A sound algorithmic and model
based approach in
combination with suitable tools such as simulation environments, should make results
portable such that a series of visits results in improved platforms and systems.

Research Issues

In addition to the above suggestions, there are application and system aspects. Some examples are:

Safe operation
: How to ensure safe (for humans) operation, both along the lines of using certified
safe components and COTS unsafe components. In both cases the resulting system must fulfill the
safety demands, which are less strict than compared to mission critical systems (which for a given
engineering effort can never be as flexible as robots that may be stopped in case of a failure). The
role of formal methods needs further investigation.

level descriptions

and automatic generation of system configurations (including
configurations of specific devices), both on a modular mechatronic level and on a higher level of
system design. Information processing today is typically expressed in an imperative way using
ordinary programming languages. Such entities of processing, however, do not compose. For
DAE systems there has been a development of declarative description that do compose, such as
Modelica. For computations that are locally sequential even mathematically, corresponding
declarative, ways of describing systems/components are needed. So called aspect
programming offers one approach.

Reactive modeling:

Models of systems today are typically created during some kind of
engineering stage, prior to operation. Future flexible and increasingly autonomous robots will
need to have extensive models of the environment, which more automatic will need to be updated
as a result of external stimuli.

Anticipatory systems:

Intelligent behavior can benefit from systems being able to simulate other
involved activities or even their own operation. A complication today is that software systems are
based on global properties and functions, such as functionality for time and concurrency, with
threads of execution being based on the hardware clock, which in turn cannot be represented in a
self simulating system without explicit considering the issue during system design. A better
approach would be to have software platforms that automatically support anticipatory systems.

aware systems:

Actual and predictable robot operation will need to take resources and
resource limitations into account. That, in turn, requires extensive engineering. One idea is then to
have resource management built into the software components, and have a system platform that
supports automatic configuration by means of optimization of quality of service.