Denny Oetomo

A reconfigurable modular robotic endoluminal surgical system: Vision and preliminary results

Miniaturized surgical devices are promising for the future development of minimally invasive and endoluminal surgery. However, the dexterity and therapeutic functions of these devices are limited. In this paper, a reconfigurable modular robotic system is proposed to perform screening and interventions in the gastrointestinal tract. In the proposed system, millimeter-sized robotic modules are ingested and tasked to assemble into an articulated mechanism in the stomach cavity. The modules are assembled according to the target location to perform precise intervention. Based on this concept, a preliminary report is presented covering the robotic schemes for the endoluminal reconfigurable platform, the design with structural functions, the control strategy, and the interval-based constraint satisfaction algorithm to determine the suitable topologies of the reconfigurable robot for the given task.

Wrench-Closure Workspace Generation for Cable Driven Parallel Manipulators Using a Hybrid Analytical-Numerical Approach

In this paper, a technique to generate the wrench-closure workspace for general case completely restrained cable driven parallel mechanisms is proposed. Existing methods can be classified as either numerically or analytically based approaches. Numerical techniques exhaustively sample the task space, which can be inaccurate due to discretisation and is computationally expensive. In comparison, analytical formulations have higher accuracy, but often provides only qualitative workspace information. The proposed hybrid approach combines the high accuracy of the analytical approach and the algorithmic versatility of the numerical approach. Additionally, this is achieved with significantly lower computational costs compared to numerical methods. It is shown that the wrench-closure workspace can be reduced to a set of univariate polynomial inequalities with respect to a single variable of the end-effector motion. In this form, the workspace can then be efficiently determined and quantitatively evaluated. The proposed technique is described for a 3-DOF and a 6-DOF cable driven parallel manipulator. A detailed example in workspace determination using the proposed approach and comparison against the conventional numerical approach are presented.

Generalized Modeling of Multilink Cable-Driven Manipulators With Arbitrary Routing Using the Cable-Routing Matrix

Multilink cable-driven manipulators offer the compactness of serial mechanisms while benefitting from the advantages of cable-actuated systems. One major challenge in modeling multilink cable-driven manipulators is that the number of combinations in the possible cable-routing increases exponentially with the number of rigid bodies. In this paper, a generalized model for multilink cable-driven serial manipulators with an arbitrary number of links that allow for arbitrary cable routing is presented. Introducing the cable-routing matrix (CRM), it is shown that all possible cable routing can be encapsulated into a single representation. The kinematics and dynamics for the generalized model are derived with respect to the CRM. The advantages of the proposed representation include the simplicity and convenience in modeling and analysis, where all cable routing is inherently considered in a single model. To illustrate this, the inverse dynamics analysis is performed for two example systems: a 2-link 4-DoF manipulator that is actuated by 6 cables and an 8-link 24-DoF mechanism actuated by 76 cables. The results show the validity and scalability of the generalized formulation, allowing for complex systems with arbitrary cable routing to be modeled and analyzed.

Triple Degree-of-Freedom Piezoelectric Ultrasonic Micromotor via Flexural-Axial

Actuators remain a limiting factor in robotics, especially in microrobotics where the power density of actuators is a problem. A 3 times 3 times 8.7 mm 3-axis piezoelectric ultrasonic micromotor system is described here in an effort to help solve this problem. Formed from 4 bulk lead zirconate titanate (PZT) thickness-polarized elements placed around the periphery of a rectangular rod, the stator is designed to combine axial and flexural vibrations in a way that permits rotation of a hardened steel ball as a rotor about an arbitrary axis. A simple prototype of the micromotor was found to produce at least a rotation speed of 10.4 rad/s with 4 muN-m torque about all 3 orthogonal directions at an excitation frequency of about 221 kHz, demonstrating the feasibility of a 3 degree-of-freedom millimeter-scale piezoelectric motor.

Laser-Based Sensing, Measurement, and Misalignment Control of Coupled Linear and Angular Motion for Ultrahigh Precision Movement

This paper presents a novel methodology for position and orientation (pose) measurement of stages used for micro/nano positioning which produce coupled motions with three planar degrees of freedom (DOF). In the proposed methodology, counter-rotation of the entire mechanism prevents the misalignment of the measurement beams within a laser-interferometry-based sensing and measurement technique. To detect such a misalignment, a sensing strategy constructed around a position sensitive diode has been developed. A feedforward-feedback compound controller has been established to provide the necessary counter-rotation input to reduce the misalignment error. Experimental validation has been conducted through the measurement of the workspace of a three-DOF planar micro/nano positioning stage. Experimental results demonstrate the capability of the technique to provide combined linear/angular measurement.

Shock absorbing ability of articular cartilage and subchondral bone under impact compression.

Despite the important role of subchondral bone in maintaining the integrity of the overlying articular cartilage, little research has focused on measuring its mechanical behavior, particularly under injurious load conditions such as impact compression. In this study, the stiffness and the absorbed energy of subchondral bone were compared to that of its overlying cartilage by applying impact compression to equine cartilage-bone specimens. Deformations of the cartilage and subchondral bone were examined independently within the cartilage-bone unit by analyzing real-time images of cartilage-bone explants. Peak subchondral bone and cartilage stiffness (mean ± SD) were 800.7 ± 250.0 MPa and 119.9 ± 50.8 MPa respectively. The maximum absorbed energy per unit volume of subchondral bone was approximately 4 times lower than that of cartilage. Micro-computed tomography (μCT) images at 9 μm resolution revealed oblique fissures at the cartilage articular surface. At the cartilage-bone interface, micro-cracks as thin as 30 μm in width and micro-fractures of width 200 μm could be seen in the μCT images. The relative energy loss in bone was 76.5 ± 6.8% in specimens with bone fracture and 23.0 ± 20.4% in specimens without bone fracture. Our results indicate that both articular cartilage and subchondral bone absorb shock under impact compression, but the energy absorption of bone is much higher in specimens that fracture. This may spare the overlying cartilage from immediate injury, but is a potential risk for subsequent post-traumatic osteoarthritis (PTOA).

Design Strategy of Serial Manipulators With Certified Constraint Satisfaction

This paper presents the design strategy of serial manipulators with constraint satisfaction. The algorithm provides certified solutions to the range of values of the manipulator design parameters that satisfy the given constraints for all points inside a desired workspace. Alternatively, it can also be used to obtain the achievable workspace of a particular manipulator topology within which a set of given constraints are satisfied. This strategy can therefore be applied to the general case of a serial manipulator design problem, robots of adjustable parameters, or even reconfigurable robot strategy to obtain a suitable topology. The interval-based algorithm was implemented on an example serial anthropomorphic manipulator with joint displacement constraints and obtains the possible variations to the manipulator topology that allow the required workspace to be achievable under the given joint displacement constraints. Results are presented and discussed.

Compliant motion using a mobile manipulator: an operational space formulation approach to aircraft canopy polishing

The operational space formulation provides a framework for the analysis and control of robotic systems with respect to interactions with their environments. In this paper, we discuss its implementation on a mobile manipulator programmed to polish an aircraft canopy with a curved surface of unknown geometry. The polishing task requires the robot to apply a specified normal force on the canopy surface while simultaneously performing a compliant motion keeping the surface of the grinding tool tangentially in contact with the workpiece. A human operator controls the mobile base via a joystick to guide the polishing tool to desired areas on the canopy surface, effectively increasing the mobile manipulators reachable workspace. The results demonstrate the efficacy of compliant motion and force regulation based on the operational space formulation for robots performing tasks in unknown environments with robustness towards base motion disturbances. The mobile manipulator consists of a PUMA 560 arm mounted on top of a Nomad XR4000 mobile base. Implementation issues are discussed and experimental results are shown.

Musculoskeletal Static Workspace Analysis of the Human Shoulder as a Cable-Driven Robot

The workspace analysis of cable-driven parallel manipulators has been widely studied, where the cables have been considered as ideal force generators. Due to the differences in actuation dynamics, workspace analysis has not been previously conducted for musculoskeletal systems. In this paper, static workspace analysis is performed on the human shoulder with a Hill-type physiological muscle model. The key characteristic of physiological muscles is that its ability to produce force is dependent on its length. Such type of workspace analysis on musculoskeletal systems as cable-driven manipulators is proposed for the first time. The generated shoulder workspace is validated by comparing the range of motion to that from benchmarks of human data. The significance of considering physiological muscles is demonstrated by comparing the musculoskeletal workspace with that of systems with ideal force generators. The novel formulation provides a new computational approach to perform workspace analysis for a wider range of engineered and biological systems.

The Operational Space Formulation implementation to aircraft canopy polishing using a mobile manipulator

The Operational Space Formulation provides a framework for the analysis and control of manipulator systems with respect to the behavior of their end-effectors. Its application to aircraft canopy polishing is shown using a mobile manipulator. The mobile manipulator end-effector maintains a desired force normal to the canopy surface of unknown geometry in doing a compliant polishing motion, while, at the same time, its mobile base moves around the shop floor, effectively increasing the mobile manipulators workspace. The mobile manipulator consists of a PUMA 560 mounted on top of a Nomad XR4000. Implementation issues are discussed and simultaneous motion and force regulation results are shown.