Four arm manipulation via feet interfaces (2018)
We seek to augment human manipulation by enabling humans to control two robotic arms in addition to their natural arms using their feet. Thereby, the hands are free to perform tasks of high dexterity, while the feet-controlled arms perform tasks requiring lower dexterity, such as supporting a load. The robotic arms are tele-operated through two foot interfaces that transmit translation and rotation to the end effector of the manipulator. Haptic feedback is provided for the human to perceive contact and change in load and to adapt the feet pressure accordingly.
Existing foot interfaces have been used primarily for a single foot control and are limited in range of motion and number of degrees of freedom they can control. This paper presents foot-interfaces specifically made for bipedal control, with a workspace suitable for two feet operation and in five degrees of freedom each. This paper also presents a position-force teleoperation controller based on Impedance Control modulated through Dynamical Systems for trajectory generation. Finally, an initial validation of the platform is presented, whereby a user grasps an object with both feet and generates various disturbances while the object is supported by the feet.
Four arm laparoscopic surgery via feet interfaces (2019)
In conventional minimally invasive surgery, the surgeon requires the support of a trained assistant. However communication (speech & gestures) is often subjective, which could pose an efficiency problem.
Our research aims at endowing the surgeon with the capacity to complement the work of both hands with two robotic arms that are controlled via haptic foot interfaces of five degrees of freedom. One foot controls an endoscope (camera) while the other foot controls a complementary retractor ( in this demo resembled with a hook).
The robots are teleoperated using impedance control modulated via linear dynamical systems.
Foot control of surgical laparoscopic gripper via 5 DoF haptic robotic platform (2020)
In conventional minimally invasive surgery, the surgeon requires the support of a trained assistant. However communication (speech & gestures) is often subjective, which could pose an efficiency problem.
Our research aims at endowing the surgeon with the capacity to complement the work of both hands with two robotic arms that are controlled via haptic foot interfaces of five degrees of freedom. One foot controls an endoscope (camera) while the other foot controls a complementary retractor ( in this demo resembled with a hook).
The robots are teleoperated using impedance control modulated via linear dynamical systems.
Contact initiated shared control strategies for four-arm manipulation via feet interfaces (2020)
Multimedia Extension part of the paper published in the International Journal of Robotics Research. In this video show the performance of the control strategy with full assistance (force and coordination)
Can be found originally in https://doi.org/10.1177/0278364921101
Demonstration of the robotic foot platform and the anastomosis 4-handed task in laparoscopy surgery
This project aims to evaluate that the benefits brought by this supplementary dexterity is not shadowed by too important cognitive demands for controlling the arm and that the training time remains acceptable.
The previous studies revealed that subjects were able to use
the platform in a four-handed solo scenario. Performance varied across subjects with some showing high ability to use the four limbs in coordination and other finding it more challenging. We wanted to study a more realistic scenario (the anastomosis in laparoscopy surgery) at our partners’ site, the SFITT / HUG (Swiss Foundation for Innovation and Training in Surgery / University Hospital in Geneva). This video is the tutorial for the surgeons on how to use the foot interface with the latest updates and the task they will have to perform.