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Haptic Interfaces and Force-Control Robotic Applications in Medical and Industrial Contexts

Haptic Interfaces and Force-Control Robotic Applications in Medical and Industrial Contexts. Applicants Prof. Rolf Johansson, Lund University Prof. Doo Yong Lee, KAIST Co-Applicants Dr. Magnus Annerstedt, L und U niversity Dept . Clinical Science s , Div. Surgery Prof. Jung Kim, KAIST.

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Haptic Interfaces and Force-Control Robotic Applications in Medical and Industrial Contexts

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  1. Haptic Interfaces and Force-Control Robotic Applications in Medical and Industrial Contexts Applicants • Prof. Rolf Johansson, Lund University • Prof. Doo Yong Lee, KAIST Co-Applicants • Dr. Magnus Annerstedt, Lund University Dept. Clinical Sciences, Div. Surgery • Prof. Jung Kim, KAIST

  2. To develop an efficient software architecture for haptic interfaces, which guarantees real-time collision-detection, and high-fidelity visual and haptic rendering. To develop a real-time force-control scheme and a task-planning method, which enables dexterous bimanual robotic manipulation. Aims

  3. Reduction of computational complexity of MIMO (multi-input-multi-output) output estimation method. Increase the multi-contact capability of MIMO output estimation. Enhance the adjusting out-limiter to higher-order polynomials. Reduce computational complexity of the force-control method for dual manipulators. Rearrange data structure of the task model based on states and transitions. Improve search method to find sub-task sequences at symbolic level. Derive efficient cost functions to optimize the task plan, which exploit manipulability and task-compatibility. Methods (1)

  4. Develop test-bed applications which facilitate the development of the theories and methods, and have large potential and ramification to people and society. Develop ERCP (Endoscopic Retrograde Cholangio-Pancreatography) simulation which can train physicians. Develop physics-based models of human veins and bile duct, which can simulate the dynamics and behavior with high-fidelity. Develop a real-time haptic interface which can simulate interaction between the catheter and vein; and endoscope and body canal. Develop a bimanual robot system which can demonstrate dexterous bimanual manipulation of polyhedral parts and assembly. Methods (2)

  5. Prototype ERCP simulator. Level 3 validation data of the ERCP simulator. Portable physics-based dynamic model of human veins Portable physics-based dynamic model of human bile duct Portable real-time haptic interface for simulation of interaction between catheter and human vein. Portable real-time haptic interface for simulation of interaction between endoscope and human bile duct. Bimanual robot system capable of manipulation and assembly of polyhedral parts. Expected Results

  6. Researchers-in-Residence Program: Research staff, Ph.D. course students, and professors visiting the other institution to work on the joint research projects. Two Ph.D.-level researchers (from KAIST, with specialties in haptic control and rendering; and bimanual robotic operation) will visit Lund University starting March 2007. Work Plan

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