The next stage for robotics development is to introduce autonomy and cooperation with human agents in tasks that require high levels of precision and/or that exert considerable physical strain. To guarantee the highest possible safety standards, the best approach is to devise a deterministic automaton that performs identically for each operation. Clearly, such approach inevitably fails to adapt itself to changing environments or different human companions. In a surgical scenario, the highest variability happens for the timing of different actions performed within the same phases. This thesis explores the solutions adopted in pursuing automation in robotic minimally-invasive surgeries (R-MIS) and presents a novel cognitive control architecture that uses a multi-modal neural network trained on a cooperative task performed by human surgeons and produces an action segmentation that provides the required timing for actions while maintaining full phase execution control via a deterministic Supervisory Controller and full execution safety by a velocity-constrained Model-Predictive Controller.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Gesture Recognition and Control for Semi-Autonomous Robotic Assistant Surgeons



    Erscheinungsdatum :

    2020-01-01


    Medientyp :

    Hochschulschrift


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    GESTURE-BASED CONTROL FOR SEMI-AUTONOMOUS VEHICLE

    TAVEIRA MICHAEL FRANCO / DOUGHERTY JOHN ANTHONY | Europäisches Patentamt | 2023

    Freier Zugriff

    Gesture-based control for semi-autonomous vehicles

    TAVEIRA MICHAEL FRANCO / DOUGHERTY JOHN ANTHONY | Europäisches Patentamt | 2023

    Freier Zugriff

    GESTURE-BASED CONTROL FOR SEMI-AUTONOMOUS VEHICLE

    TAVEIRA MICHAEL FRANCO / DOUGHERTY JOHN ANTHONY | Europäisches Patentamt | 2021

    Freier Zugriff

    Gesture-based control for semi-autonomous vehicle

    TAVEIRA MICHAEL FRANCO / DOUGHERTY JOHN ANTHONY | Europäisches Patentamt | 2024

    Freier Zugriff

    GESTURE-BASED CONTROL FOR SEMI-AUTONOMOUS VEHICLE

    TAVEIRA MICHAEL / DOUGHERTY JOHN | Europäisches Patentamt | 2021

    Freier Zugriff