Now-a-days, robots are being used to perform surgery. The main advantages they provide are precision, miniaturization, smaller incisions, decreased blood loss, less pain, and quicker healing time. Robotic assistance decreases the fatigue that doctors experience during surgeries that can last several hours. Telesurgery is the ability for a doctor to perform surgery on a patient even though they ...

In this paper, we will explore combining the manipulation of a robotic arm and the mobility of a mobile platform, both in theory and in hardware implementation. First, the kinematic equations of the 7-DoF redundant robotic arm and the 2-DoF non-holonomic mobile platform will be introduced. Second, we will derive the Jacobian equations of the robotic arm and the mobile platform. The two Jacobian...

This paper describes our ongoing project about a new wheelchair-based rehabilitation robotic system for the disabled, called KARES 11 (KAIST Rehabilitation Engineering Service System Io. We shall concentrate on the issues of design and visual servoing of the robotic arm with three human-robot interaction subsystems: an eyemouse, an EMG interface, and a haptic suit interface. First, the specific...

Background: The main advantages of robotics in general surgery may be for advanced minimally invasive procedures. Unlike other specialties, formal fellowship training opportunities for robotic general surgery are few. As a result, most surgeons currently develop robotic skills in practice and robotic cholecystectomy represents the operation of choice for general surgeons to acquire clinical da ...

The extraction of accurate kinematic information of animal appendages is of great importance for many biologically-inspired robotic applications. Octopus arm trajectories during a two-stroke arm-swimming motion have been initially analyzed through a vision-based 3D process, that reconstructs the arm spatial configurations and captures their 3D motion; this work is presented in [Kazakidi et al, ...

Sudha Ramasamy, Karthikesh.R, Manikandan.P, Padma Thiagarajan School of Electrical Engineering, VIT University, Vellore, India. School of Biosciences and Technology, VIT University, Vellore, India E-Mail: [email protected] Abstract The aim of this work is to transfer liquid contents from one micro cell to another using two stepper motors and a peristaltic pump. There are two objectives here. One...

In this paper, a task-oriented design (TOD) procedure is proposed by which a robotic arm can be designed to achieve predefined tasks. To define the target tasks, we have spent about six months, observing everyday life of disabled people, and have determined 12 important tasks. By using TOD procedure in a coherent and consistent manner, we have developed a working prototype of a care-providing r...

There have been significant advancements in brain computer interface (BCI) techniques using EEG-like methods. EEG can serve as non-invasive BMI technique, to control devices like wheelchairs, cursors and robotic arm. In this paper, we discuss the use of EEG recordings to control low-cost robotic arms by extracting motor task patterns and indicate where such control algorithms may show promise t...

Robotic technology has promised considerable help to people with severe motor and communicative disabilities. However, due to motor and speech impairments these people are not able to handle commercial products with common interfaces for moving a particular robotic device. Scanning interfaces are used extensively for people with severe impairments and to this end, we present in this paper, a si...

In this research paper we have presented control architecture for robotic arm movement and trajectory planning using Fuzzy Logic (FL) and Genetic Algorithms (GAs). This architecture is used to compensate the uncertainties like; movement, friction and settling time in robotic arm movement. The genetic algorithms and fuzzy logic is used to meet the objective of optimal control movement of robotic...