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

项目编号：CNS 07-22943PI(s): Okamura, Allison M. Cowan, Noah J.；格里高利·d·海格；Kazanzides,彼得。;泰勒，罗素H/机构：约翰霍普金斯大学巴尔的摩，马里兰州21218-8268标题：MRI/开发。：机器人和人机系统集成传感、建模和操作的基础设施项目建议：这个跨学科项目，开发传感运动集成的基础设施，促进机器人和人机系统操作领域的新研究和现有工作，旨在提供一个公开可用的系统框架，包括软件、机电一体化和集成硬件。实施一种可以轻松扩展到其他机器人和人机应用的通用开发方法，将建立两个互补的机器人平台，解决两个不同的应用领域：a.具有集成环境传感和建模人类环境中常见刚性物体能力的双手灵巧操作系统；具有集成传感器的远程操作外科机器人系统，可以获取患者特定的可变形组织模型。此外，通过该项目的网站，计划进行以下传播：实时系统控制和传感器/模型/操作/显示集成的开源软件；设计一个互补的机电火线控制器板，包括a /D、D/ a、编码器、放大器和通过fpga的低级控制功能。硬件集成的详细描述，包括WAM手臂、Barrett手、来自Pressure Profile Systems的触觉传感套件、手术机器人、相机、超声波、OCT、基于视觉的跟踪系统、视觉和触觉显示器等。更广泛的影响：集成机器人系统融合多模态感官信息来增强模型和操纵环境，对人类生活产生积极影响，特别是在医疗保健、安全和人类援助方面。这项研究还影响了相关学科，包括神经科学、康复和外科。研究人员将可以使用开放的软件和设计。这些平台显然影响了教育，影响了从高中生到高级教师等各个职业阶段的人们。将提供该系统以及如何制作该系统的详细说明。该设计框架将与现有的教育硬件一起用于本科课程；实验平台将用于课程项目。来访的学生和教师（包括WISE的女孩）将积极利用综合试验台。与摩根州立大学正在进行的合作涉及REU和RET参与者，外联计划良好。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。

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.