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Bilateral Control of a Master-Slave Robotic System for Large-Organ Grasping with Haptic Feedback
, M.Sc. Thesis Sharif University of Technology ; Farahmand, Farzam (Supervisor) ; Behzadipour, Saeed (Co-Advisor)
Abstract
The age of minimally invasive surgery has brought forth astounding changes in the health care field. Less pain and quicker patient recovery have been demonstrated with several types of operations that were once performed by an open technique. With these changes have come reports of complications. The decreased sense of touch is just one of several limitations inherent to current techniques of minimally invasive surgery that limit detection of subtle or unapparent lesions on palpation, such as common duct stones and liver lesions. The purpose of this study is to design and implement a bilateral control on a master-slave robotic system for grasping large ogans and demonstrate the ability of a...
Implementation of Real-Time Object Grasping and Slippage Assessment in Hand Rehabilitation and Prosthesis Applications
, M.Sc. Thesis Sharif University of Technology ; Jahed, Mehran (Supervisor)
Abstract
a real-time embedded system based on wearable technologies has been implemented for the detection of proper object grasp and slip identification in rehabilitation and prosthetic hand applications. The proposed system consists of two modules for the thumb and index fingers, each equipped with a 2×2 array of piezoelectric sensors. The output signals from these sensors, after passing through conditioning circuits, are fed into an analog-to-digital conversion unit so that the digital data can be recorded for analysis. During the data preprocessing stage, a three-step process was developed in which grasp, sustained grasp (slip), and object release are distinguished from one another. This enables...