We have described an adaptive signal processing method that allows fine graded control of a cursor in three-dimensions from cortical signals [1]. Here we describe application of the same signal processing method to direct cortical control of a robotic arm for a variety of tasks. Ou r subject w as extensiv ely traine d in controlling a computer cursor in a 3D virtual environment. We applied the ...

In this paper the problem of system integration and dynamic modeling of a hydraulically actuated manipulator with seven degrees of freedom, i.e. HydroLek HLK-7W is investigated. The arm is fitted on Multi-Arm mobile Robot System for Nuclear Decommissioning (MARS–ND) applications purposes. This is a step forward with respect to the previous works where only kinematics of the robot was taking int...

Cerebral palsy (CP) occurs in over 2 out of 1000 live births and can impair motor control and cognition. Our goal was to create a robotic rehabilitation environment that mimics real-life situations by allowing simultaneous exercise of upper and lower limbs. We chose to use the Lokomat as a gait robot and added a novel removable arm robot, called PASCAL (pediatric arm support robot for combined ...

Gesture based natural human-robot interaction paradigm has few physical requirements, and thus can be deployed in many restrictive and challenging environments. In this paper, we propose a robot vision based approach to recognizing intentional arm-pointing gestures of human for an object grasping application. To overcome the limitation of robot onboard vision quality and background cluttering i...

Dual-arm robots are expected to perform work in a dynamic environment. One of the most basic tasks that a dual-arm robot does is pick-and-place work. However, this work is more complicated when there are several objects in the robot’s workspace. Additionally, it is likely to take a long time to finish the work as the number of objects increases. Therefore, we propose a method using a combinatio...

Soft robot arms possess unique capabilities when it comes to adaptability, flexibility, and dexterity. In addition, soft systems that are pneumatically actuated can claim high power-to-weight ratio. One of the main drawbacks of pneumatically actuated soft arms is that their stiffness cannot be varied independently from their end-effector position in space. The novel robot arm physical design pr...

The rapid evolution of standard hardware such as workstations and PCs made it possible to develop workstation or PC based robot controls. RoboSiM, a robot simulation and monitoring system, is based on such a robot control. RoboSiM runs on the real robot controller which may be either a SPARC workstation or a PC. Traditional systems simulate both, the robot arm and the robot control. The basic i...

PURPOSE We describe multiple uses of the fourth robotic arm and TilePro on the da Vinci S surgical system to maximize console surgeon independence from the assistant during robot-assisted renal surgery. MATERIALS AND METHODS We prospectively evaluated the use of the fourth robotic arm and TilePro on the da Vinci S during robot-assisted radical nephrectomy (RRN) and robot-assisted partial neph...

The use of coordinated multi-arm robotic systems allows to preform manipulations of heavy or bulky objects that would otherwise be infeasible for a single-arm robot. This paper concisely introduces our work on coordinated multi-arm control [Salehian et al., 2016a], where we proposed a virtual object based dynamical systems (DS) control law to generate autonomous and synchronized motions for a m...