Choosing Grasps to Enable Collision-Free Post-Grasp Manipulations

Pardi, Tommaso; E., Amir M. Ghalamzan

doi:10.1109/humanoids.2018.8625027

Cited by 10 publications

(13 citation statements)

References 16 publications

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“…Fig. 7 shows the evolution of the cost function H (given by (11)) and z during the optimization routine. The optimization problem can be solved relatively fast with the proposed gradient descent method.…”

Section: B Resultsmentioning

confidence: 99%

“…Our aim is to find the vector z that minimizes the cost function in (11). Mathematically, the problem writes as follows…”

Section: B Optimal Grasping Pose Selectionmentioning

confidence: 99%

“…For our purpose, we use the gradient descent, i.e. a first-order iterative optimization algorithm, for finding a local minimum of the cost function in (11). At each optimization step we update z as in the following succession…”

Section: B Optimal Grasping Pose Selectionmentioning

confidence: 99%

“…The generalized motions are known before g 0 −g 1 , thus allowing the computation of limitations the robot will face during g 2 given a certain grasp. Some g 2 objectives relevant to g 0 −g 1 may include the object affordance [9], mass distribution [10] and collisions with the environment [11]. In contrast, a human operator is not able to foresee these issues during the future movements resulting in several cycles of (i) planning, (ii) executing part of the planned motions, (iii) facing a limitation and (iv) re-planning.…”

Section: Introductionmentioning

confidence: 99%

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Haptic-guided shared control for needle grasping optimization in minimally invasive robotic surgery

Selvaggio

Moccia

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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During suturing tasks performed with minimally invasive surgical robots, configuration singularities and joint limits often force surgeons to interrupt the task and regrasp the needle using dual-arm movements. This yields an increased operator's cognitive load, time-to-completion, fatigue and performance degradation. In this paper, we propose a haptic-guided shared control method for grasping the needle with the Patient Side Manipulator (PSM) of the da Vinci robot avoiding such issues. We suggest a cost function consisting of (i) the distance from robot joint limits and (ii) the task-oriented manipulability over the suturing trajectory. We evaluate the cost and its gradient on the needle grasping manifold that allows us to obtain the optimal grasping pose for joint-limit and singularity free movements of the needle during suturing. Then, we compute force cues that are applied to the Master Tool Manipulator (MTM) of the da Vinci to guide the operator towards the optimal grasp. As such, our system helps the operator to choose a grasping configuration allowing the robot to avoid joint limits and singularities during post-grasp suturing movements. We show the effectiveness of our proposed hapticguided shared control method during suturing using both simulated and real experiments. The results illustrate that our approach significantly improves the performance in terms of needle re-grasping.

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Section: B Resultsmentioning

confidence: 99%

“…Our aim is to find the vector z that minimizes the cost function in (11). Mathematically, the problem writes as follows…”

Section: B Optimal Grasping Pose Selectionmentioning

confidence: 99%

Section: B Optimal Grasping Pose Selectionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Haptic-guided shared control for needle grasping optimization in minimally invasive robotic surgery

Selvaggio

Moccia

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…In this paper, we present shared control architectures in which an operator steers a SA to reach an object (reach-tograsp -g 0 ), form stable contacts between SA fingers and object (grasp synthesis -g 1 ) and the autonomous system moves the object to the desired position/orientation (postgrasp manipulative movement -g 2 ). While collision-free grasping has been intensively explored [16], [17], considering post-grasp collision-free movements for choosing a grasp has been mostly ignored [18]. Predicting collision during post-grasp movements is non-intuitive and operators typically perform several grasps, move, re-plan sequences, e.g., this happens many times in robotic surgery [19].…”

Section: Introductionmentioning

confidence: 99%

Haptic-guided shared control grasping: collision-free manipulation

Parsa

Kamale

Mghames

et al. 2020

2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)

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Haptic-guided grasping to minimise torque effort during robotic telemanipulation

et al. 2023

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Teleoperating robotic manipulators can be complicated and cognitively demanding for the human operator. Despite these difficulties, teleoperated robotic systems are still popular in several industrial applications, e.g., remote handling of hazardous material. In this context, we present a novel haptic shared control method for minimising the manipulator torque effort during remote manipulative actions in which an operator is assisted in selecting a suitable grasping pose for then displacing an object along a desired trajectory. Minimising torque is important because it reduces the system operating cost and extends the range of objects that can be manipulated. We demonstrate the effectiveness of the proposed approach in a series of representative real-world pick-and-place experiments as well as in a human subjects study. The reported results prove the effectiveness of our shared control vs. a standard teleoperation approach. We also find that haptic-only guidance performs better than visualonly guidance, although combining them together leads to the best overall results.

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Choosing Grasps to Enable Collision-Free Post-Grasp Manipulations

Cited by 10 publications

References 16 publications

Haptic-guided shared control for needle grasping optimization in minimally invasive robotic surgery

Haptic-guided shared control for needle grasping optimization in minimally invasive robotic surgery

Haptic-guided shared control grasping: collision-free manipulation

Haptic-guided grasping to minimise torque effort during robotic telemanipulation

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