ROBOTICS RESEARCH AT LARA

bouncerarcheryAI and Robotics

Nov 14, 2013 (3 years and 6 months ago)

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MEDICAL & REHABILITATION
ROBOTICS RESEARCH AT
LARA

Antônio

Padilha

Lanari



Rede

Sarah

30
/05/2012

Automation and Robotics Laboratory (LARA)


Members


14 faculty


±
30 graduate students


±
50 undergraduate
students


Research areas


Ambient intelligence


Control, identification and
filtering


Process automation


Robotics



Surgical robotics


Robotic needle steering


Heart motion estimation


Rehab robotics


Lower limb prosthesis for amputees


Closed
-
loop Functional Electrical Stimulation


Motion estimation using
Kinect

and inertial sensing


Augmented communication


Human
-
robot interaction


Neuromusculoskeletal

modeling and motion analysis


Surgical and rehab robotics at LARA


Local partners


Biomedical engineering laboratory (LaB, UnB)


Health science & technology (FCE, UnB)


Minas Gerais Federal University (UFMG)


Espírito Santo Federal University (UFES)


International partners


LIRMM & INRIA Sophia Antipolis, France


Pontifica Universidad Catolica, Peru


Technische Universität Kaiserslautern, Germany


MERS/CSAIL/MIT, USA


Universidad de Oriente, Cuba

Surgical and rehab robotics at LARA



Methods for robot
-
asstisted minimally
-
invasive surgery

Surgical robotics

Robotic
-
aided needle steering

By Mariana Bernardes, Bruno V. Adorno et al.

Robotic
-
aided needle steering

By Mariana Bernardes, Bruno V. Adorno et al.


Needle steering with adaptive path planning


Heart 3D reconstruction using region
-
based visual
tracking

Heart motion estimation

By Rogério Richa et al.

Modeling the heart motion


Drawbacks


Occlusions


Reflections


Solution


Model beating heart


Integrate predicted
motion with visual
tracking

By Rogério Richa, Antônio P. L. Bó et al.

Robust heart motion tracking

By Rogério Richa, Antônio P. L. Bó et al.



Sensing systems for human motion estimation



Kinematics & dynamical analysis



Neuromusculoskeletal modeling



Actuation technologies affecting human
motion



Human
-
robot interaction


Rehabilitation robotics

Robotic prosthesis for lower limb amputees


Transfemural &
transtibial


From 2004 to 2010


Hardware development


Sensing systems


Joint angles


Inertial sensing


Ultrasound for foot
orientation



Estimation algorithms


Control strategies

Nonfunctional prototype

By Glauco Scandaroli, Geovany A. Borges et al.

Robotic prosthesis control

By Glauco Scandaroli, Thiago Rocha et al.

Robotic prosthesis for amputees


Next steps


Compliant actuation


Closed
-
loop control based
on gait model


Functional prototype


Related work


Active orthesis for gait
rehabilitation &
correction


Insole measurements for
monitoring & diagnose




By Claudia P. Ochoa Diaz, Roberto Baptista et al.

Foot orientation using range sensors

By Glauco Scandaroli, Geovany Borges et al.

Attitude estimation using inertial sensing


Low
-
cost sensors


Accelerometer


Gyrometer


Magnetometer


Integration algorithm


Extended Kalman Filter


Quaternions


Pseudomeasure


TRIAD

By Antônio Padilha L. Bó et al.


Automatic inertial sensors calibration for portable
applications

Integrating inertial sensing and Kinect

By Antônio Padilha L. Bó, Mitsuhiro Hayashibe et al.

Augmentative & alternative communication


Alternative solution for
disabled people


Communicating with
others


Using the computer

By Carlos Gonçalves

Augmentative & alternative communication


Current solution


Viola to identify user and
provide initial estimation


EKF for motion tracking


Simple motion model in
prediction step


Feature
-
based visual
tracking in correction step

By Carlos Gonçalves


Perspectives


Region
-
based visual tracking


Separation of voluntary and involuntary motion


Gesture detection

Augmentative & alternative communication

By Carlos Gonçalves & Antônio P. L. Bó


Application


Diagnosis & monitoring

Online pathological tremor estimation

By Antônio Padilha L. Bó, et al.


Application


Active compensation

Online pathological tremor estimation

By Antônio Padilha L. Bó, et al.

Active tremor compensation

By Antônio Padilha L. Bó, et al.


Validation on nonimpaired subjects before clinical trials

Active tremor compensation

By Antônio Padilha L. Bó, et al.


Closed
-
loop control for motion restoration &
rehabilitation

Functional Electrical Stimulation (FES)

By Antônio Padilha L. Bó, Christine Azevedo
-
Coste et al.

Dynamical systems identification


Efficient methods
for system
initialization &
online
identification

By Antônio Padilha L. Bó, et al.

Neuromusculoskeletal modeling


Example application


Predicting stimulation
response with complex
model

By Antônio Padilha L. Bó, et al.


Software tools currently used


OpenSim


Visual 3D

Neuromusculoskeletal modeling

Source: OpenSim


Hybrid dynamical system for modeling


Phases within a step


Different modes of locomotion


Gait modeling for bipedal locomotion

By Claudia P. Ochoa Diaz et al.


Algorithms for coordinating human and robot motion to
perform collaborative tasks

Human
-
robot interaction

By Bruno V. Adorno, Antônio P. L. Bó et al.


Application people with severe disabilities


Robot partially controls human arm motion

Human
-
robot interaction

By Bruno V. Adorno, Antônio P. L. Bó et al.