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Resources

Multilateral Manipulation Software Framework

This work is a software design methodology to be applied in the first stages of describing a multilateral manipulation task. The multilateral manipulation software framework can be built on top of ROS or CISST, or built independent of these libraries. We break down the formalization of a multilateral manipulation task into seven base classes. The base classes facilitate completion of the task and include input/output characteristics: human-interface devices, graphical display, and data logging. Extensions to these base classes specify the framework for the task at hand; in this repository, a simulated surgical task. Interfaces between the classes are simple, well defined, and easily extensible, facilitating integration of this structure to tasks other than the one demonstrated in this work. Through careful adherence to the specifications of this software framework, this repository contains five different collaboration models between a human operator and a robotic agent in an inclusion segmentation task. Different collaboration models can broaden our understanding of multilateral manipulation and enable us to think about new ways to investigate human-centered autonomy. Source code available here: https://github.com/nichollka/MMSF-Barebones-Framework.

3-DoF Skin deformation haptic device

The 3-DoF skin deformation haptic device is a tactile haptic device that is capable of rendering translational skin deformation cues to your index finger, middle finger, and thumb, without imparting any physical forces to the user. The Solidworks design files (which include the parts and the complete assembly) can be downloaded here. Download the SolidWorks files and other part information for rc-servo powered 3-DoF skin deformation device

Download the SolidWorks files and other part information for Micromo 1516 DC-motor powered 3-DoF skin deformation device

Download the C++ Qt project file for the rc-servo powered 3-DoF skin deformation device, which is needed for the control of the device

Download the C++ Qt project file for the dc-motor powered 3-DoF skin deformation device, which is needed for the control of the device

Stereoscopic Vision System

With the Raven-II we use a pair of Point Grey Flea3 cameras and a Samsung UN46FH6030 3D TV to display the Raven's manipulators to the user. The camera mount allows both the view angle and the distance between the cameras to be adjusted. It is designed to be laser cut from 1/8" acrylic and can be attached to either English or Metric 80/20.Download the SolidWorks files
  The source code used in our stereoscopic visualization system for teleoperation is hosted on https://github.com/cliffbar/Stereoscopic_3D_Display. A .zip file is also available for download here. Download the source code Δ

OmniGrip Haptic Device

The OmniGrip is a master manipulator gripper device capable of rendering a programmed stiffness. This open source project aims to add a seventh degree of freedom to the conventional Sensable Touch (Phantom Omni) haptic device. The project's files can be found at our github repository.

Finite Element Models

Comparing Lump Detection by Human and Artificial Tactile Sensing

Finite Element Method (FEM) model of human finger interacting with embedded lumps of different sizes and depths.Download Abaqus Input File
Finite Element Method (FEM) model of artificial tactile sensor interacting with embedded lumps of different sizes and depths.Download Abaqus Input File
Nodal coordinates for both models are in millimeters, and material parameters are in MPa. See Paper for material property values and applied boundary conditions.