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Method Overview
Raven Tool Gripping Force Perception
Sensor Measurement
Fig. 5.Raven II Gripper with 1-dimentional
Force Sensors (FSS015WNSB,
Honeywell).
Fig. 7. Improving Estimation
Precision and Robustness
Fig. 1 Two Port Bilateral Teleoperation System. Dynamic Model Based UKF Estimator[1] with Bounding Filter.
Construct a two-port bilateral teleoperation system with
Raven II and Cockpit Console;
Compare and model gripping force perception methods for
Raven II gripper;
Develop Raven Simulator, define API;
Model Cockpit Console control precision, force output Fig. 6. Estimator Architecture.
precision and delay factors; Gaussian Process Regression based Estimator[2]
Verify Raven Simulator with Cockpit console, model
relationship between communication delay and haptic
stability;
Inject noise and delay into the bilateral teleoperation system,
model relationship among various delay, control noise, force
noise and haptic stability, and add the model into the
simulator Fig. 8. GPR Estimator Architecture. Fig. 9. Estimation results have different
Release the API (including ROS interface) to the simulator, probabilistic properties.
and provide the access to the physical robot to researchers. Simulator Development & Remote Access to Raven II
NRI: Software Framework for Research in Model Raven II Dynamic and Representative Instruments;
Semi-Autonomous Teleoperation
Fig. 10. Raven Simulator.
[1] Y. Li, M. Miyasaka, M. Haghighipanah, Lei Cheng and B. Hannaford, "Dynamic modeling of cable driven
elongated surgical instruments for sensorless grip force estimation," 2016 IEEE International Conference on *note: Source code and instructions will be available at:
Robotics and Automation (ICRA), Stockholm, 2016, pp. 4128-4134.
[2] Y. Li and B. Hannaford, "Gaussian Process Regression for Sensorless Grip Force Estimation of Cable-Driven
The Project page: https://github.com/collaborative-robotics, and
Elongated Surgical Instruments," in IEEE Robotics and Automation Letters, vol. 2, no. 3, pp. 1312-1319, July BioRobotics Lab. source code page: https://github.com/uw-biorobotics
2017.