 | Study programme | Français | |
 | Robotics and Biomedical Applications | ||
Activité d'apprentissage à la Faculty of Engineering |
| Code | Lecturer(s) | Associate Lecturer(s) | Subsitute Lecturer(s) et other(s) |
|---|---|---|---|
| I-MRDV-100 |
|
| Language of instruction | Language of assessment | HT(*) | HTPE(*) | HTPS(*) | HR(*) | HD(*) | Term |
|---|---|---|---|---|---|---|---|
| Anglais | Anglais | 28 | 28 | 0 | 0 | 4 | Q1 |
Content of Learning Activity
Introduction: industrial and medical robots, rehabilitation and active prosthetic/orthotic devices, typical structures, challenges, specificities of medical robots (safety, sterility, surgical theater), advantages of robots in medicine, examples of applications Robot Kinematics: degrees of freedom, 3D rigid-body kinematics, direct and inverse geometric and kinematic models, manipulability, trajectory planning Actuation: electrical motors in robotics, mechanical transmissions Sensors: proprioceptive and exteroceptive sensors for position, velocity and force Robot Dynamics: direct and inverse dynamic models of robots Control of industrial robots: joint/operational space control, decentralized control, position/velocity feedback, feedforward compensation, gravity compensation, inverse dynamic control, force control Control strategies in biomedical applications: compliance control, hybrid force/motion control, haptic control Some applications of robots in surgery: orthopedic surgery, laparoscopic surgery (AESOP, ZEUS, Da Vinci robots), radiotherapy, technical requirements, interoperative sensors, augmented reality, telemanipulation Rehabilitation and prosthetic/orthotic medical devices for lower limbs: main characteristics of human walking (neuro-musculo-skeletal system), mechanical design, control strategies Design of medical devices: specifications, standards (european directives 93/42/EEC and 2007/47/EC, ISO13485, ISO22523, IEC62304, ISO14971, …) Testimonies from physicians, visits
Required Learning Resources/Tools
Not applicable
Recommended Learning Resources/Tools
"Robotics, Vision and Control", P. Corke, Springer tracks in robotics, Springer, 2013
"Springer Handbook of Robotics", B. Siciliano & O. Khatib, Springer, 2008
"Medical Robotics", J. Troccaz, ISTE (London)/John Wiley & Sons (Hoboken, USA), 2012
"Intelligent Assistive Robots", S. Mohammed et al, Springer tracks in robotics, Springer, 2015
Other Recommended Reading
Not applicable
Mode of delivery
- Face to face
Type of Teaching Activity/Activities
- Cours magistraux
- Conférences
- Travaux pratiques
- Travaux de laboratoire
- Exercices de création et recherche en atelier
- Projet sur ordinateur
- Etudes de cas
- Excursions, visites
Evaluations
The assessment methods of the Learning Activity (AA) are specified in the course description of the corresponding Educational Component (UE)