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Background
Background
With a previously developed tendon-driven 5 D-o-F robotic manipulator, we want to investigate possible improvements on structural design and control approaches with higher precision to improve the quality of the human robot interaction and the efficiency of the dental surgeries. However, multiple problems have made this project rather challenging...
Challenges
Challenges
How can we design the work-space of manipulator in terms of the requirement in a dental surgery? How to control the redundant D-o-F to generate physiological movements with the robot? How to improve the safety of the surgical robot manipulator for future autonomous operation? How can the robot determine the needed assistance for the patient in general movements in an efficient manner? It is both challenging and inspiring to develop solutions for these questions...
Workspace Simulation in MATLAB
Workspace Simulation in MATLAB
- Bionic configuration: the link lengths and joint angle range were designed that were similar to human arm, which is asymmetric, in order to maximize its workspace to cover a real human oral cavity. Simulation results are shown below.
Symmetric (a) VS Asymmetric (b) Configuration
Symmetric (a) VS Asymmetric (b) Configuration
Master-Slave Control Demo
Master-Slave Control Demo
- 3D Auto-tracking for operator's hand motion [1]
- Scaling Down Mapped Work-space [2]
Master-Slave Control Demo
Master-Slave Control Demo
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