This Master’s level course is offered in English. The goal of this course is to familiarize students with the fundamentals of robotics and its applications to clinically relevant scenarios.
Learning Objectives
After following this course the student is able to:
- Formulate forward kinematics of serial link robots based on Denavit-Hartenberg parameters
- Derive differential kinematics from a description of a robot’s forward kinematics
- Formulate critically damped error dynamics for problems involving robot trajectory following
- Apply different modeling techniques to describe elastic and viscous behaviour of soft tissue, including Hooke, Maxwell, and Kelvin-Voigt
- Analyze stress and strain of a material given material properties and applied load
|
|
This is a Master's Level course offered to Biomedical, Mechanical, and Electrical Engineering, Robotics, and System & Control students. This course provides an introduction to robotics with emphasis on the mathematical tools for describing the kinematics and control of robotic manipulators. In addition, selected topics concerning modeling of soft biological tissues and haptics, are also discussed. In minimally invasive surgery, instruments should be manipulated and navigated remotely. Principles from robotics are used to describe this manipulation and navigation mathematically. The result of the operation should be observed and fed back to a surgeon. Although often the image of a video camera is sufficient, sometimes tactile information is needed about the mechanical properties of the tissue. There are haptic interfaces developed, which gives the surgeon 'the feeling' of the tissue remotely. The technical background required for this is being handled and applied in lab/practical assignments involving Phantom Omni Haptic Devices.
|
 |
|