In this section

Mechatronics in Medicine

The MIM Lab develops robotic and mechatronics surgical systems for a variety of procedures.

Head of Group

B415C Bessemer Building
South Kensington Campus

+44 (0)20 7594 7046

What we do

The Mechatronics in Medicine Laboratory develops robotic and mechatronics surgical systems for a variety of procedures including neuro, cardiovascular, orthopaedic surgeries, and colonoscopies. Examples include bio-inspired catheters that can navigate along complex paths within the brain (such as EDEN2020), soft robots to explore endoluminal anatomies (such as the colon), and virtual reality solutions to support surgeons during knee replacement surgeries.

Meet the team

Mr Ayhan Aktas
Casual - Student demonstrator - lower rate

Dr Daniel Bautista Salinas
Research Associate

Dr Kaiwen Chen
Research Associate

Mr Zejian Cui
Research Assistant

Mr Connor Daly
Research Postgraduate

Emeritus Professor Brian L Davies FREng
Emeritus Professor

Mr Zhaoyang Jacopo Hu
Research Postgraduate

Dr Hisham M Iqbal
Research Associate

Mr Alex Ranne
Research Postgraduate

Professor Ferdinando M Rodriguez y Baena
Co-Director of Hamlyn Centre, Professor of Medical Robotics

Dr Jialei Shi
Research Associate

Mr Spyridon Souipas
Casual - Other work

Ms Emilia Zari
Research Postgraduate

Citation

BibTex format

@article{Bowyer:2015:10.1109/TRO.2015.2477956,
author = {Bowyer, SA and Rodriguez, y Baena F},
doi = {10.1109/TRO.2015.2477956},
journal = {IEEE Transactions on Robotics},
pages = {1281--1293},
title = {Dissipative control for physical human-robot interaction},
url = {http://dx.doi.org/10.1109/TRO.2015.2477956},
volume = {31},
year = {2015}
}

Download

RIS format (EndNote, RefMan)

TY  - JOUR
AB  - Physical human-robot interaction is fundamental to exploiting the capabilities of robots in tasks and environments where robots have limited cognition or comprehension and is virtually ubiquitous for robotic manipulation in highly unstructured environments, as are found in surgery. A critical aspect of physical human-robot interaction in these cases is controlling the robot so that the individual human and robot competencies are maximized, while guaranteeing user, task, and environment safety. Dissipative control precludes dangerous forcing of a shared tool by the robot, ensuring safety; however, it typically suffers from poor control fidelity, resulting in reduced task accuracy. In this study, a novel, rigorously formalized, n-dimensional dissipative control strategy is proposed that employs a new technique called “energy redirection” to generate control forces with increased fidelity while remaining dissipative and safe. Experimental validation of the method, for complete pose control, shows that it achieves a 90% reduction in task error compared with the current state of the art in dissipative control for the tested applications. The findings clearly demonstrate that the method significantly increases the fidelity and efficacy of dissipative control during physical human-robot interaction. This advancement expands the number of tasks and environments into which safe physical human-robot interaction can be employed effectively.
AU  - Bowyer,SA
AU  - Rodriguez,y Baena F
DO  - 10.1109/TRO.2015.2477956
EP  - 1293
PY  - 2015///
SN  - 1552-3098
SP  - 1281
TI  - Dissipative control for physical human-robot interaction
T2  - IEEE Transactions on Robotics
UR  - http://dx.doi.org/10.1109/TRO.2015.2477956
UR  - https://ieeexplore.ieee.org/document/7294686
UR  - http://hdl.handle.net/10044/1/25640
VL  - 31
ER  -