Robot Operating System

Résumé

Robot Operating System (ROS), est un ensemble d'outils informatiques sous forme de logiciels libres (le système est sous licence BSD) open source, permettant de développer des logiciels pour la robotique. À l'origine, il est développé en 2007 par la société américaine Willow Garage, pour son robot PR2 (Personal Robot 2). Son développement est aujourd'hui mené par l'(anciennement Open Source Robotics Foundation ou OSRF). ROS est officiellement supporté par plus de 75 robots. Description ROS est une plateforme de développement logicielle pour robot. Il s'agit d'un méta-système d'exploitation qui peut fonctionner sur un ou plusieurs ordinateurs et qui fournit plusieurs fonctionnalités : abstraction du matériel, contrôle des périphériques de bas niveau, mise en œuvre de fonctionnalités couramment utilisées, transmission de messages entre les processus et gestions des packages installés. Le logiciel ROS peut être séparé en trois groupes : # les outils utilisés pour créer, lan

Source officielle

https://fr.wikipedia.org/wiki/Robot_Operating_System

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Small active medical robot and passive holding structure

Charles Baur, Pascal Bérard, Szymon Kostrzewski, Michael Sigrist

The robotic system, for example for medical applications, comprises a passive holding structure with a large working volume and a robot holding at least a tool, said robot having a small and accurate working volume.

2012

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Robotic system for spinal and other surgeries

Charles Baur, Pascal Bérard, Szymon Kostrzewski

The present invention relates to a method, such as a surgical method for assisting a surgeon for placing screws in the spine using a robot attached to a passive structure. The present invention also related to a method, such as a surgical method for assisting a surgeon for removing volumes in the body of a patient using a robot attached to a passive structure and to a device to carry out said methods. The present invention further concerns a device suitable to carry out the methods according to the present invention.

2012

Chargement

Recent research has highlighted the crucial role of the processing of somatosensory signals involving the torso for global aspects of Bodily Self Consciousness (BSC), i.e., the experience of the conscious "I" as embodied and localized within bodily space. Compared to advances in hand or finger-based haptic interfaces, current haptic technology for the torso is relatively underdeveloped as its operations are limited to stationary conditions and laboratory environments. My thesis aims to design, implement and validate novel torso-worn tactile displays to investigate BSC in healthy individuals with specific emphasis on robot-induced presence hallucination (PH, illusory experience of feeling someone behind) and tactile gait agency. First, I examined if torso-worn haptic interfaces can be used to induce specific alterations of BSC (passivity, self-touch, and PH) in healthy individuals by adapting a robotic system and paradigm previously established by our lab (Blanke et al. 2014) to the torso-worn haptic interface. In a feasibility study in healthy individuals, a torso-worn vibrotactile display (Study1) successfully induced the illusory sensations of being touched (passivity experience). Next, I developed CognoVest, a portable, torso-worn force interface that I designed to provide human-like poking stimuli on the user's back. Study 2 confirms the induction of illusory self-touch and passivity experiences by CognoVest and the induction of PH of mild to moderate intensity in healthy individuals. In Study 3, I extended the use of torso-worn haptic interfaces to the research on conscious action monitoring and investigated the sense of agency (SoA; a core aspect of BSC) for the entire body. To this aim, I developed the FeetBack system that examines the sensorimotor perception of tactile action consequences during locomotion, as previously tested by our lab for auditory and visual action consequences. Study 3 extends prior findings on the auditory or visual gait agency to the sense of touch and shows that delayed re-mapped tactile feedback systematically modulates SoA for walking. Finally, I examined and compared tactile spatial discrimination on the human back (Study 4) for force and vibrotactile stimulation, using interfaces realized in Study 2 and 3, thus providing a first direct (within-participant) evaluation of such interfaces. At the intersection of haptics and behavioral neuroscience, my thesis makes contributions by taking the first steps towards the design, and validation of torso-worn haptic interfaces as well as their applications in stationary/mobile sensorimotor experimentation settings. My findings for tactile perception on the back suggest that designers can use force stimulators to design the torso-worn tactile interface to provide more ecological touch feedback with an (almost) similar level of tactile spatial discrimination accuracy as observed in widespread vibrotactile interfaces. I applied this approach to the design of the CognoVest that induced systematic change in self-other distinctions. Results with CognoVest might have important implications for developing wearable therapeutic devices to down-regulate specific psychotic symptoms in patients with PH experiences. Moreover, I showed that healthy walkers had strong SoA for remapped tactile feedback, suggesting that the FeetBack system could potentially be used to enhance gait awareness in patients with gait deficits.

EPFL2021

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EPFL2021