The purpose of the senior design project, from the course description of objectives is "To provide students a complete design experience, including the necessity to set design goals and objectives, integrate knowledge, exercise engineering judgment, plan to meet a budget and schedule, to work as a team member, and to communicate in writing." To accomplish these objectives our group, Helping Han...

Abstract Manual vascular interventional radiology (VIR) procedures have been performed under radiation exposure conditions, and many commercial master–slave VIR robot systems recently developed to overcome this issue. However, still limitations. The operator must reside near the master device control slave using only device. In addition, simultaneously process recognition of surgical tool from ...

A study was conducted to examine the changes in performance and communication pattern within the OR team as a result of the introduction of a new technology – a remote master-slave surgical robot. A detailed analysis of the information flow during a cholecystectomy procedure with and without the robot revealed large disparities in terms of the amount and type of information required by the surg...

The slave robot in this research is a 1-DOF piezo actuator which includes hysteresis nonlinearity. Nonlinear hysteresis behavior makes robot control a complex task. In this research, the nonlinear and uncertain dynamics of the slave robot has been considered through the teleoperation control loop. LuGre friction model is used as the estimator of the hysteresis loop. An impedance controller for ...

This research aims to develop a portable haptic master hand with 20 degrees of freedom (DOF). Master hands are used as haptic interfaces in master-slave systems. A master-slave system consists of a haptic interface that communicates with a virtual world or an end-effector for tele-operation, such as a robot hand. The thumb and fingers are usually modeled as a serial linkage mechanism with 4 DOF...

Co-Simulation is a general approach to simulate coupled technical systems. In a master-slave concept the slaves simulate sub-problems whereas the master is responsible for both coordinating the overall simulation as well as transferring data. To unify the interface between master and slave the FMI for CoSimulation was developed. Using FMI a master was implemented with simple and advanced algori...

This paper proposes a human-assisting manipulator teleoperated by electromyographic (EMG) signals and arm motions. The proposed method can realize a new master–slave manipulator system that uses no mechanical master controller. A person whose forearm has been amputated can use this manipulator as a personal assistant for desktop work. The control system consists of a hand and wrist control part...

Bilateral teleoperators, designed within the passivity framework using concepts of scattering and two-port network theory, provide robust stability against constant delay in the network and velocity tracking, but cannot guarantee position tracking in general. In this paper we fundamentally extend the passivity-based architecture to guarantee state synchronization of master/slave robots in free ...

A novel optical millimeter-wave generation using sideband injection locking is demonstrated using monolithic two-section DFB lasers. The tunable millimeter-wave is generated by adjusting the RF-modulation frequency and bias currents. Summary The optical generation of millimeter-wave has been demonstrated and attracted much attention because of its flexibility and applicability in broadband mobi...