Institut des Systmes Intelligents et de Robotique ISIR
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 Ph. D or Post-Doc students Activities : • Medical robotics • Nanorobotics • Perception • Movement • Mobile robotics • Autonomous systems 1
Assistance aux Gestes et Applications THerapeutiqu. E (AGATHE) Assistive Robotics for Medical and Therapeutics Applications ~25 people including : 3 associate professors 6 assistant professors 3 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 2
Postural analysis and rehabilitation Joint position measurment Method for postural stability modeling • Robust reconstruction of lower limb joint Muscular movements and efforts activity measurment • Response analysis to 3 D disturbances • Analysis of synergies in the control of lower limbs Motorized postural Platform 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 Foot-ground interaction measurment 3/17
Neuro-rehabilitation of human upper-limb Transparency 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 3 D imaging (see video) • Gesture guidance in case of high tool-environment interaction forces • Physiological movements compensation 6/17
- Slides: 6