institut des systèmes intelligents et de robotique (isir)
Post on 23-Feb-2016
38 Views
Preview:
DESCRIPTION
TRANSCRIPT
1
Institut des Systèmes Intelligents et de Robotique (ISIR)Institut for Intelligent Systems and Robotics, Univ. of Paris 6
Director : Philippe Bidaud
~ 120 people including :80 PhD or Post-Doc students
Activities :
• Medical robotics• Nanorobotics• Perception• Movement• Mobile robotics• Autonomous systems
2
Assistance aux Gestes et Applications THerapeutiquE (AGATHE)Assistive Robotics for Medical and Therapeutics Applications
~25 people including : 3 associate professors6 assistant professors3 surgeons
General purpose : design and control of robotic devices devoted to human
gesture and movement assistance
Main application topics :
• Postural analysis and rehabilitation• Neuro-rehabilitation for human upper-limb• Serial and parallel comanipulation for medical/surgical applications• Force-based control of human/tool/organ interactions
Postural analysis and rehabilitation
Method for postural stability modeling• Robust reconstruction of lower limb joint
movements and efforts• Response analysis to 3D disturbances• Analysis of synergies in the control of lower limbs
Assistance to walking and sit-and-stand (see video)• Intuitive control using the user’s intentional
movements• Trajectory adaptation to the patient pathology :
– By observing synergies during standard rehabilitation
– By iterative learning
3/17
Foot-ground interaction
measurment
Muscular activity
measurment
Joint position measurment
Motorized postural Platform
Neuro-rehabilitation of human upper-limbTransparency oriented design of an exoskeleton • Hyperstaticity reduction : the arm/robot interface provides additional
mobilities.• Force sensors intergration and distributed force control of the exoskeleton
Upper limb rehabilitation (see video)• Method for evaluating various comanipulation modes using forces and
movement analysis.
4/17
Serial and parallel comanipulation for medical/surgical applications
Medical imaging and parallel comanipulation• Active guidance of instrument based on real time medical imaging• Exploitation of under actuated systems
Dexterous instrumentation for laparoscopy (see video)• Study of hand-tool-eye coordination under indirect vision• Gesture analysis for kinematic and handle optimal design• Postural analysis for improment of global ergonomy
5/17
Force and vision-based control of human/tool/organ interactions
Comanipulation for interface dynamics adaptation• Programmed impedance of the hand-tool interaction• Force reconstruction and haptic feedback using real-time imaging of organ deformation
Virtual fixtures obtained using local 3D imaging (see video)• Gesture guidance in case of high tool-environment interaction forces• Physiological movements compensation
6/17
top related