The purpose of this study is to measure the forces and torques produced in the drilling process of a non-homogenous material （bone）. An automated 5 DoF CataLyst-5 robot is used during the drilling process and it is ...The purpose of this study is to measure the forces and torques produced in the drilling process of a non-homogenous material （bone）. An automated 5 DoF CataLyst-5 robot is used during the drilling process and it is integrated to a 6 DoF force-torque sensor. A force-torque controller which is built in the Matlab Simulink environment is employed to control the drilling process of the bone. Different feed rate is used during the experimental process of the bone drilling operation. The sensor is calibrated to measure the tri-axial direction of the resultant forces and torques. The profiles of the forces and torques obtained are non-linear due to the diversity of the bone density. The profiles generated also indicated fluctuation in the interface layers of the bone.展开更多
Bone connection with robot is an important topic in the research of robot assisted fracture reduction surgery.With the method to achieve bone-robot connection in current robots,requirements on reliability and low trau...Bone connection with robot is an important topic in the research of robot assisted fracture reduction surgery.With the method to achieve bone-robot connection in current robots,requirements on reliability and low trauma can not be satisfied at the same time.In this paper,the design,manufacturing,and experiments of a novel Bone Connection Robotic Hand(BCRH)with variable stiffness capability are carried out through the bionics research on human hand and the principle of particle jamming.BCRH’s variable stiffness characteristic is a special connection between“hard connection”and“soft connection”,which is different from the existing researches.It maximizes the reliability of bone-robot connection while minimizes trauma,meets the axial load requirement in clinical practice,and effectively shortens the operating time to less than 40 s(for mode 1)or 2 min(for mode 2).Meanwhile,a theoretical analysis of bone-robot connection failure based on particle jamming is carried out to provide references for the research in this paper and other related studies.展开更多
文摘The purpose of this study is to measure the forces and torques produced in the drilling process of a non-homogenous material （bone）. An automated 5 DoF CataLyst-5 robot is used during the drilling process and it is integrated to a 6 DoF force-torque sensor. A force-torque controller which is built in the Matlab Simulink environment is employed to control the drilling process of the bone. Different feed rate is used during the experimental process of the bone drilling operation. The sensor is calibrated to measure the tri-axial direction of the resultant forces and torques. The profiles of the forces and torques obtained are non-linear due to the diversity of the bone density. The profiles generated also indicated fluctuation in the interface layers of the bone.
基金This research was supported by the National Natural Science Foundation of China(Grant Nos.51975070,62003060 and 52075051)the National Key Research and Development Program of China(Grant No.2020YFB1313000).
文摘Bone connection with robot is an important topic in the research of robot assisted fracture reduction surgery.With the method to achieve bone-robot connection in current robots,requirements on reliability and low trauma can not be satisfied at the same time.In this paper,the design,manufacturing,and experiments of a novel Bone Connection Robotic Hand(BCRH)with variable stiffness capability are carried out through the bionics research on human hand and the principle of particle jamming.BCRH’s variable stiffness characteristic is a special connection between“hard connection”and“soft connection”,which is different from the existing researches.It maximizes the reliability of bone-robot connection while minimizes trauma,meets the axial load requirement in clinical practice,and effectively shortens the operating time to less than 40 s(for mode 1)or 2 min(for mode 2).Meanwhile,a theoretical analysis of bone-robot connection failure based on particle jamming is carried out to provide references for the research in this paper and other related studies.
