MRI: Development of Infrastructure for Integrated Sensing, Modeling, and Manipulation with Robotic and Human-Machine Systems

MRI：开发用于机器人和人机系统的集成传感、建模和操作的基础设施

• 批准号: 0722943
• 负责人: Allison Okamura
• 金额: $ 199.44万
• 依托单位: Johns Hopkins University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2007
• 资助国家: 美国
• 起止时间: 2007-09-01 至 2012-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0722943&HistoricalAwards=false
• 关键词: MRI; Development; Infrastructure; Integrated; Sensing

Proposal #: CNS 07-22943PI(s): Okamura, Allison M. Cowan, Noah J.; Hager, Gregory D.; Kazanzides, Peter.; Taylor, Russell H/Institution: Johns Hopkins University Baltimore, MD 21218-8268Title: MRI/Dev.: Infrastructure for Integrated Sensing, Modeling, and Manipulation with Robotic and Human-Machine SystemsProject Proposed:This interdisciplinary project, developing infrastructure for sensorimotor integration that fosters new studies and enhances existing work in the area of manipulation for robotics and human-machine systems, aims to offer a publicly available systems framework, including software, mechatronics, and integrated hardware. Enforcing a general development approach that can be easily extended to other robotic and human-machine applications, two complementary robotics platforms will built addressing two different application domains: a. Bimanual dexterous manipulation system with integrated environment sensing and the capability for modeling rigid objects commonly found in human environments, and. Teleoperated surgical robotic system with integrated sensors that can acquire patient-specific deformable tissue models.Moreover, via the project's website, dissemination is planned for:. Open-source software for real-time system control and sensor/model/manipulation/display integration;. Design of a complementary mechatronic firewire controller board that includes A/D, D/A, encoders, amplifiers, and low-level control capabilities via FPGS, and. Detailed descriptions of hardware integration, including WAM arms, Barrett hands, a tactile sensing suite from Pressure Profile Systems, surgical robots, cameras, ultrasound, OCT, a vision-based tracking system, visual and haptic displays, and more.Broader Impact: Integrated robotic systems that fuse multimodal sensory information to enhance models and manipulate the environment positively impact human lives, particularly in health care, safety, and human assistance. The research also impacts related disciplines, including neuroscience, rehabilitation, and surgery. Researchers will have access to open software and designs. The platforms clearly impact education, people at many career stages, from high school students to senior faculty. The system, and detailed directions on how to produce it, will be made available. The design framework will be used in undergraduate classes in conjunction with existing educational hardware; experimental platforms will be used for course projects. Visiting students and faculty (including WISE girls) will make positive use of the integrated testbeds. There is an ongoing collaboration with Morgan State U. Involving REU and RET participants, outreach is well planned. The dissemination plan includes an active web site; the software will be made available via open-source repository. Furthermore, the website documents all hardware and respective vendors.

提案＃：CNS 07-22943PI（S）：Okamura，Allison M. Cowan，Noah J。；哈格，格雷戈里d。彼得的喀山德；泰勒，罗素H/机构：约翰·霍普金斯大学巴尔的摩，医学博士21218-8268TITLE：MRI/DEV。：综合感应，建模和操纵基础架构，以机器人和人类的信息系统启用提议提议：该互学项目，以增强构建基础的研究，以增强构造的研究，以增强构建的新功能，以增强开发和探讨，并加强了在Sensorimotor的研究中，该研究量机器人技术和人机系统旨在提供公开可用的系统框架，包括软件，机电货币和集成硬件。实施一种可以轻松扩展到其他机器人和人机应用程序的一般开发方法，两个互补的机器人平台将构建解决两个不同的应用领域：a。具有集成环境感应的双人灵活操纵系统以及在人类环境中常见的刚性对象建模的能力，并且。具有集成传感器的远程手术机器人系统可以获取患者特异性的可变形组织模型。此外，通过该项目的网站，可以为：。实时系统控制和传感器/模型/操作/显示集成的开源软件；通过FPGS的A/D，D/A，编码器，放大器和低水平控制功能的互补机电局局部的Firewire控制器的设计。硬件集成的详细描述，包括WAM Arms，Barrett手，来自压力概况系统，手术机器人，相机，超声，超声，OCT，基于视觉的跟踪系统，视觉和触觉显示等的触觉传感套件等。BROADER的影响：综合机器人系统，融合了多态感官信息，以增强人类的生命，并促进人类的生命，并构成人类的生命，并构成人类的生命，并构成人类的生命，并构成人性化，并构成人性化，并促进了人性化的生命。该研究还影响相关学科，包括神经科学，康复和手术。研究人员将可以访问打开的软件和设计。这些平台显然会影响教育，在许多职业阶段，从高中生到高级教职员工。该系统以及有关如何生产的系统将提供。设计框架将与现有的教育硬件一起在本科课程中使用；实验平台将用于课程项目。来访的学生和教职员工（包括明智的女孩）将积极使用综合测试床。与摩根州立大学（Morgan State U.传播计划包括一个活跃的网站；该软件将通过开源存储库提供。此外，该网站记录了所有硬件和各自的供应商。