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

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

• Applicants
• Prof. Doo Yong Lee, KAIST
• Prof. Rolf Johansson, Lund University
• Dr. Magnus Annerstedt, LU, Dept Clinical
  Sciences, Div. Surgery

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Research Issues

• Real-time force control and planning for bimanual
  robotic tasks.
• Software architecture for haptic interfaces in
  medical or industrial applications
• Biomedical simulation methodologies and
  technologies
• Tissue modeling for haptic interaction between
  vein and catheter
• Tissue and organ modeling for haptic interaction
  in ERCP simulation
• ERCP (Endoscopic Retrograde Cholangio-pancreato
  graphy)

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Research Interaction

• Joint research project on the haptic interfaces
  and force-control robotic application in both
  medical and industrial contexts.
• Mutual visits of research staff (including Ph.D.
  course students) visiting KAIST and LU for
  sabbatical or conducting the joint projects.
• Ph.D. course students at KAIST and LU for mutual
  visits to participate in the research for 6
  months to 1 year.
• Ph.D. graduates from KAIST and LU for mutual
  visits for post-doctoral positions.

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Research Issues?Haptic Interfaces

• Haptic interfaces play (or will play) in
  increasingly important role in virtual
  manufacturing and for teaching/programming of
  force control applications.
• Force control is  currently reaching industrial
  products and practices, as an key technology to
  permit more flexible (compliant and
  error-tolerant and the like) and robust robot
  operation. Even if core algorithms have been
  available for more than two decades, attempts to
  use force control in real applications will
  create both generic and application-specific
  problems. In this context, both the system design
  including the algorithms, as well as the tools
  and methods needed for analyzing and configuring
  the robot control with respect to the specific
  application needs, will be of key importance.
• This also includes the user interaction and the
  programming methods.
• Haptic interfaces are not only important as such,
  they also need to be considered in the context of
  programming virtual or real robots with force
  interaction with the work piece.

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Research Interaction

• Ph.D. Programme
• Ph.D. students visiting KAIST or LU and vice
  versa for research for 6-12 months
• Motion control techniques, including non-linear
  control, observers, and system identification.
• Real-time systems and implementation of control.
  Special attention on model-based generation of
  control software, the engineering process, and
  the testability of the system (even during
  operation).
• Robot programming with emphasis on sensor based
  applications, ranging from implementation of
  basic skills and up to more intelligent
  behaviors.
• PostDoc Programme
• Ph.D. graduates from KAIST visiting LU and vice
  versa for post-doctoral research
• With knowledge and experience from some of the
  above topics, a postdoc research will give
  opportunities to work on advanced topics that
  spans over tow of more research areas. Special
  attention should be paid to the reusability and
  reproducibility of technologies and results
  respectively. A sound algorithmic and model-based
  approach in combination with suitable tools such
  as simulation environments, should make results
  portable such that a series of visits results in
  improved platforms and systems.

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Research Issues

• In addition to the above suggestions, there are
  application and system aspects. Some examples
  are
• Safe operation How to ensure safe (for humans)
  operation, both along the lines of using
  certified safe components and COTS unsafe
  components. In both cases the resulting system
  must fulfill the safety demands, which are less
  strict than compared to mission critical systems
  (which for a given engineering effort can never
  be as flexible as robots that may be stopped in
  case of a failure). The role of formal methods
  needs further investigation.
• Meta-level descriptions and automatic generation
  of system configurations (including
  configurations of specific devices), both on a
  modular mechatronic level and on a higher level
  of system design. Information processing today is
  typically expressed in an imperative way using
  ordinary programming languages. Such entities of
  processing, however, do not compose. For DAE
  systems there has been a development of
  declarative description that do compose, such as
  Modelica. For computations that are locally
  sequential even mathematically, corresponding
  declarative, ways of describing
  systems/components are needed. So called
  aspect-oriented programming offers one approach.
• Reactive modeling Models of systems today are
  typically created during some kind of engineering
  stage, prior to operation. Future flexible and
  increasingly autonomous robots will need to have
  extensive models of the environment, which more
  automatic will need to be updated as a result of
  external stimuli.
• Anticipatory systems Intelligent behavior can
  benefit from systems being able to simulate other
  involved activities or even their own operation.
  A complication today is that software systems are
  based on global properties and functions, such as
  functionality for time and concurrency, with
  threads of execution being based on the hardware
  clock, which in turn cannot be represented in a
  self simulating system without explicit
  considering the issue during system design. A
  better approach would be to have software
  platforms that automatically support anticipatory
  systems.
• Resource-aware systems Actual and predictable
  robot operation will need to take resources and
  resource limitations into account. That, in turn,
  requires extensive engineering. One idea is then
  to have resource management built into the
  software components, and have a system platform
  that supports automatic configuration by means of
  optimization of quality of service.