 The BIGSS lab is developing a minimally-invasive surgical workstation to treat the osteolytic lesions using using a snake like dexterous manipulator (SDM).  The SDM will be positioned in the workspace by a robotic arm.  The focus of this project is integrating the SDM with the robotic armwhich is a 6 DOF Universal Robot (UR5) and position control of the tip of the SDM inside the lesion area.

Parallel manipulators feature relatively high payload and accuracy capabilities compared to their serial counterparts. However, they suffer from small workspace and low maneuverability. Kinematic redundancy for parallel manipulators can improve both of these characteristics. This paper presents a family of new kinematically redundant planar parallel manipulators with six actuated-joint degrees ...

The growing interest in the use of parallel kinematic machines (PKM) in machining applications requires clear determination of the workspace, dexterity and stiffness. This paper deals with the issues regarding the use of PKM as micro machine tools. Comparison criteria are set and a quantitative analysis is made to compare the characteristics of serial and parallel kinematics with respect to the...

The goal of this study is to develop a haptic interface for dexterous manipulation. To achieve this, we proposed electrotactile-kinesthetic integration. Our electrotactile display presents natural touch sensations of objects. In addition, this display is so small that it is considered to not affect the moving range of fingers. The haptic interface for dexterous manipulation is realized by mount...

Telexistence (or telepresence) enable us to interact with another human or object in a remote or a virtual place through a robotic system (Tachi & Yasuda, 1994). This technology spreads across the world because of a desire to extend a person’s sensing and interacting capability to remote places. In telexistence technologies, a robotic system called haptic display that provides haptic feedback t...

The range of human kinematic motion as well as force resolution should be known for design of a haptic device. In addition, a haptic interface can be designed more easily when master and slave devices are the same kinematically. However, human kinematic factors have not been analyzed and applied deeply because of their complexity. Although calibration techniques have been developed, there is a ...

Placement of robotics manipulators involves the specification of the position and orientation of the base with respect to a predefined work environment. A general approach to the placement of manipulators based on the kinematic dexterity of mechanisms is presented. In many robotic implementations, it is necessary to carefully plan the layout of the workplace, whether on the manufacturing floor ...

The growing interest in the use of parallel manipulators in machining applications requires clear determination of the workspace and dexterity. In this paper, the workspace optimization of a Tricept parallel manipulator under joint constraints is performed. This parallel manipulator has complex degrees of freedom and, therefore, leads to dimensionally inhomogeneous Jacobian matrices. Here, we d...

The inverse kinematics (IK) problem of continuum robots has been investigated in depth the past decades. Under constant-curvature bending assumption, closed-form IK solution obtained for with variable segment lengths. Attempting to close gap towards a complete solution, this letter presents an efficient 2-segment one or two inextensible segments (a.k.a, constant lengths). Via representing robot...

This paper applies dimensional synthesis to explore the geometric design of dexterous three-fingered robotic hands for maximizing precision manipulation workspace, in which the hand stably moves an object with respect to the palm of the hand, with contacts only on the fingertips. We focus primarily on the tripod grasp, which is the most commonly used grasp for precision manipulation. We systema...