Philippe Fauteux

Dual-Differential Rheological Actuator for High-Performance Physical Robotic Interaction

Todays robotic systems are mostly rigid and position-controlled machines designed to operate in structured environments. To extend their application domains to partially unknown, dynamic, or anthropic environments, improved physical-interaction capabilities are required. In this new context, to blend the requirements for safety, robustness, and versatility is often a challenge, in part, because commonly available actuator technologies are inadequate. This paper presents our solution with the introduction of the dual-differential rheological actuator (DDRA) concept, which is based on the synergistic combination of an electromagnetic (EM) motor and two differentially coupled magnetorheological (MR) brakes. This paper describes the approach and the prototype design. It then discusses performances in force, motion, and interaction control.

Dual differential rheological actuator for robotic interaction tasks

Robots fail to perform complex manipulation or locomotion tasks when using simple force or motion controllers applied to classic actuators. Stability and safety issues arise for reasons such as high output inertia and the non-collocation of sensing and actuating transducers. This paper presents a new actuation concept, integrating a DC motor and two differentially coupled magnetorheological brakes, promising safe and versatile interaction capabilities. This paper focuses on the underlying mechanism and a case study with a proof-of-concept prototype.

Design of a small and low-cost power management unit for a cockroach-like running robot

Without a properly designed power management unit, power failures are to be expected on systems raining on batteries. Unfortunately, there is no low cost fully configurable unit that is available on the market for small mobile robots. This paper presents the design of a power management unit for a six legged pneumatic robot that runs at a top speed of 1.11 m/s. The system consists of a main unit that acts as a fast charger, a power supply and a monitor of the energy left available to the robot. This unit communicates with small circuit embedded on each NiMH battery, which gives their level and stores the batterys parameters so that the charger can adapt its charging algorithm to batteries of different capacity or chemistry. Furthermore, this power management unfit takes advantage of the controller area network (CAN) and the PIC18F brain to act as a monitoring, fully configurable, remotely controllable and autonomous node.

Using a Dual Differential Rheological Actuator as a high-performance haptic interface

Most modern robotic systems are fast and repeatable position controlled machines. However, because of their inability to interact safely, robustly and in a versatile manner, they mostly remain confined to controlled areas where they execute specific preprogrammed actions. Providing high performance motion simultaneously with the ability to physically interact significantly remains a challenge.

Robotized camera system for real-time coaching of clinicians in emergency room

PurposeTo compensate for the shortage of emergency specialists and to maintain quality of medical care in remote regions.MethodsDevelop and validate the concept of real-time coaching using a robotized camera system ceiling-mounted above a stretcher. Exploit a final prototype to evaluate its impact on surgical procedures under controlled conditions.ResultsPreliminary results demonstrate: (1) the system allows a remote practitioner to easily view all surgical procedures used in emergency room, and (2) a specialist can coach a non-specialist to perform a surgical procedure using proper kinesiologic gestual with many individuals surrounding the stretcher.ConclusionThe system could provide help on demand and improve the level of services in trauma medicine for the population of regions where trauma surgeons are unavailable. The system could also decrease medical cost by providing remote support on surgical procedures used to stabilize unstable polytraumatized patients at their arrival in the trauma room.

Design of a Cockroach-Like Running Robot for the 2004 SAE Walking Machine Challenge

Captain Basile is a robot inspired from the cockroach and built to participate at the SAE Walking Machine Challenge 2004, an undergraduate competition of walking robots.

Time-scaling Control of a Compass Type Biped Robot

This paper presents a robust control strategy driving an actuated compass gait robot towards steady gaits. The originality lies in the generation of the swing leg references as a simple function of the supporting leg angle. Simulations and experimentation showed that the system exhibits asymptotically stable walking cycles with large and strong basins of attraction.