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RISS 인기검색어
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- 저자 : Janabi-Sharifi, Farrokh (검색결과 3 건)
- 무료
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A Haptic Interaction Method Using Visual Information and Physically Based Modeling
Jungsik Kim,Janabi-Sharifi, Farrokh,Jung Kim IEEE 2010 IEEE/ASME transactions on mechatronics Vol.15 No.4
<P>Haptic feedback can be used to sense a physical environment at a remote site in order to overcome spatial or scale barriers in telemanipulation. The aim of this paper is to develop a haptic interaction method for a deformable object manipulation system by means of image processing and physically based modeling techniques. The interaction forces between the instrument driven by a haptic device and a deformable object are inferred in real time based on the visual information from a slave environment without force sensor. A physically based model of the deformable object is constructed by integrating the geometric information from vision, <I>a priori</I> knowledge of the object mechanical properties, and a predefined coordinate system of the slave environment. The forces are then derived from the model, while a boundary condition is updated based on the images (a tool-tip position tracking). In order to demonstrate the applicability and effectiveness of the proposed algorithm, macro- and microscale experimental systems were built and equipped with a telemanipulation system and a commercial haptic display. The proposed method was verified using silicone (macroscale) and zebrafish embryos (microscale).</P>
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Active optical system for variable view imaging of micro objects with emphasis on kinematic analysis
Tao, Xiaodong,Cho, Hyungsuck,Janabi-Sharifi, Farrokh The Optical Society 2008 Applied optics Vol.47 No.22
<P>Insufficient vision information, such as occlusion, low resolvability, and a small field of view, represent important issues in microassembly and micromanipulation. We propose an active optical system to solve problems related to insufficient vision information through the integration of robotics and optics technologies. The proposed system integrates a double-prism system and a scanning mirror system to supply a compact flexible view. The kinematics of the imaging system is analyzed based on a simplified model initially to investigate the workspace and identify the kinematic performance. A more rigorous analysis of kinematics of the system is then made based on the ray tracing method. The simulation results based on the preliminary design are provided for investigating the workspace and demonstrating the capability of the system in imaging with variable views.</P>
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A Soft Robotics Nonlinear Hybrid Position/Force Control for Tendon Driven Catheters
Minou Kouh Soltani,Sohrab Khanmohammadi,Farzan Ghalichi,Farrokh Janabi-Sharifi 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.1
Minimally invasive steerable catheters, commonly implemented in cardiac ablation, are currently operatedby interventionalists exposing them to X-ray radiation and requiring the dexterity for accurate steering. Toconduct robot-assisted cardiac ablation, highly accurate stable control platform for precise force/position controlon the moving tissue is required. This paper introduces hybrid force/position control strategy to apply a constantforce to the cardiac tissue while tracking the desired trajectory. The position controller is based on a nonlinearmodel predictive tracking control satisfying the input constraints. Cosserat rod theory is incorporated for the distalshaft modeling of tendon-driven catheters, and the model is reformulated for controller design and stabilityproof. Lyapunov-based stability analysis is conducted. To apply the controller, the force-displacement mapping ofthe cardiac tissue is obtained through ex vivo experimental tests. The performance of the controller is evaluated,and the catheter is capable of regulating the force with the RMSE of 4.9 mN and tracking the position with theRMSE of 0.89 mm. The promising results verify the potential of the application of the introduced approach in realapplications including in vitro and clinical cardiac ablation.
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