Papers by Marcello BONFE'
IEEE Transactions on Medical Robotics and Bionics, 2020
Nowadays Robotic assisted Minimally Invasive Surgeries (R-MIS) are the elective procedures for tr... more Nowadays Robotic assisted Minimally Invasive Surgeries (R-MIS) are the elective procedures for treating highly accurate and scarcely invasive pathologies, thanks to their ability to empower surgeons' dexterity and skills. The research on new Multi-Robots Surgery (MRS) platform is cardinal to the development of a new SARAS surgical robotic platform, which aims at carrying out autonomously the assistants tasks during R-MIS procedures. In this work, we will present the SARAS MRS platform validation protocol, framed in order to assess: (i) its technical performances in purely dexterity exercises, and (ii) its functional performances. The results obtained show a prototype able to put the users in the condition of accomplishing the tasks Manuscript
Global/local motion planning based on Dynamic Trajectory Reconfiguration and Dynamical Systems for Autonomous Surgical Robots
2020 IEEE International Conference on Robotics and Automation (ICRA), 2020
This paper addresses the generation of collision-free trajectories for the autonomous execution o... more This paper addresses the generation of collision-free trajectories for the autonomous execution of assistive tasks in Robotic Minimally Invasive Surgery (R-MIS). The proposed approach takes into account geometric constraints related to the desired task, like for example the direction to approach the final target and the presence of moving obstacles. The developed motion planner is structured as a two-layer architecture: a global level computes smooth spline-based trajectories that are continuously updated using virtual potential fields; a local level, exploiting Dynamical Systems based obstacle avoidance, ensures collision free connections among the spline control points. The proposed architecture is validated in a realistic surgical scenario.
Improving the Feasibility of DS-based Collision Avoidance Using Non-Linear Model Predictive Control
2022 International Conference on Robotics and Automation (ICRA)
Real-Time Identification of Robot Payload Using a Multirate Quaternion-Based Kalman Filter and Recursive Total Least-Squares
2018 IEEE International Conference on Robotics and Automation (ICRA)
The paper describes an estimation and identification procedure that allows to reconstruct the ine... more The paper describes an estimation and identification procedure that allows to reconstruct the inertial parameters of a rigid load attached to the end-effector of an industrial manipulator. In particular, the proposed method adopts a multirate quaternion-based Kalman filter, fusing measurements obtained from robot kinematics and inertial sensors at possibly different sampling frequencies, to estimate linear accelerations and angular velocities/accelerations of the load. Then, a recursive total least-squares (RTLS) process is executed to identify the load parameters. Both steps of the estimation and identification procedure are performed in real-time, without the need for offline post-processing of measured data.
2001 European Control Conference (ECC), 2001
This paper presents an application of object-oriented methodology to the development of Programma... more This paper presents an application of object-oriented methodology to the development of Programmable Logic Controller (PLC) programs. PLC is widely used as computer controller of manufacturing machinery, principally because its robustness and programming simplicity. During the last years, IEC61131-3 norm has been introduced aiming to provide standard languages and structure to the development environments of PLC programs, that are instead strictly bound up to now to proprietary languages. Following IEC61131-3 prescription, is it also possible to develop well structured, object-oriented control software, which was hardly possible with the former vendor-specific low-level languages. This paper describes an application of the novel standard IEC61131-3 to the development of the control software of a medium complexity manufacturing machinery. Software development methodology is reported and comparison regarding development time, software re-usability and application structuring, is then discussed.
The possibility of adapting online the way a robot interacts with the environment is becoming mor... more The possibility of adapting online the way a robot interacts with the environment is becoming more and more important. Nevertheless, stability problems arise when the environment (e.g. the human) the robot is interacting with gets too stiff. In this work, we present a strategy for handling the stability issues related to a change of stiffness of the human arm during the interaction with an admittance-controlled robot.
The development of robotic systems with a certain level of autonomy to be used in critical scenar... more The development of robotic systems with a certain level of autonomy to be used in critical scenarios, such as an operating room, necessarily requires a seamless integration of multiple state-of-the-art technologies. In this paper we propose a cognitive robotic architecture that is able to help an operator accomplish a specific task. The architecture integrates an action recognition module to understand the scene, a supervisory control to make decisions, and a model predictive control to plan collision-free trajectory for the robotic arm taking into account obstacles and model uncertainty. The proposed approach has been validated on a simplified scenario involving only a da Vinci® surgical robot and a novel manipulator holding standard laparoscopic tools.
2020 IEEE International Conference on Robotics and Automation (ICRA), 2020
This paper addresses the generation of collisionfree trajectories for the autonomous execution of... more This paper addresses the generation of collisionfree trajectories for the autonomous execution of assistive tasks in Robotic Minimally Invasive Surgery (R-MIS). The proposed approach takes into account geometric constraints related to the desired task, like for example the direction to approach the final target and the presence of moving obstacles. The developed motion planner is structured as a two-layer architecture: a global level computes smooth spline-based trajectories that are continuously updated using virtual potential fields; a local level, exploiting Dynamical Systems based obstacle avoidance, ensures collision free connections among the spline control points. The proposed architecture is validated in a realistic surgical scenario.
Optimized power modulation in wave based bilateral teleoperation
IEEE/ASME Transactions on Mechatronics, 2020
A common approach for stabilizing the delayed communication channel in a bilateral teleoperation ... more A common approach for stabilizing the delayed communication channel in a bilateral teleoperation architecture is using wave variables to make the exchange of information equivalent to a passive physical dynamics. However, such a dynamics is felt by the user and it affects the transparency of the system. In this article, we exploit the wave variables for storing the energy exchanged between master and slave, but we shape the incoming power for reproducing a desired, transparent behavior. First, we propose a passivity preserving modulation of the incoming power, and then, we achieve possibly scaled desired forces and velocities. Finally, we formulate an optimization problem for computing the best values of forces and velocities to be implemented. A validation of the proposed architecture and the comparison of its performances with respect to the standard wave-based approach are provided.
Improved Usability of a Low-Cost 5-DOF Haptic Device for Robotic Teleoperation
The paper describes the design and application of a low-cost haptic device with five degrees of f... more The paper describes the design and application of a low-cost haptic device with five degrees of freedom (5-DOF), all of which are fully actuated for force/torque haptic display. The device is realized using two Novint Falcons, commercially available haptic devices with only translational DOF. The paper focus on the practical issues related to the use of such a haptic device as a robotic teleoperation master and provides solutions to improve its usability during an application inspired by surgical robotics, namely the teleoperated insertion of a needle into a soft tissue. Experiments demonstrate the usefulness of force feedback and virtual fixtures on both translation and orientation degrees of freedom.
Road Wind – Utilizzo della Turbolenza Stradale come Fonte di Energia Pulita
Le turbolenze stradali causate dal passaggio dei veicoli possono essere considerate fonti di ener... more Le turbolenze stradali causate dal passaggio dei veicoli possono essere considerate fonti di energia pulita utilizzabile? Il presente progetto “Road Wind” si propone di rispondere a questa domanda. In particolare, verrà analizzato e sviluppato un sistema integrato composto da mini turbine eoliche per la produzione di energia elettrica, da installare in posizioni opportune nelle sedi autostradali per sfruttare l’energia del vento prodotta dal passaggio dei veicoli
Variable admittance control preventing undesired oscillating behaviors in physical human-robot interaction
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017
Admittance control is a widely used approach for guaranteeing a compliant behavior of the robot i... more Admittance control is a widely used approach for guaranteeing a compliant behavior of the robot in physical human-robot interaction. When an admittance-controlled robot is coupled with a human, the dynamics of the human can cause deviations from the desired behavior of the robot, mainly due to a stiffening of the human arm, and thus generate high-frequency unsafe oscillations of the robot. In this paper we present a novel methodology for detecting the rising oscillations in the human-robot interaction. Furthermore, we propose a passivity-preserving strategy to adapt the parameter of the admittance control in order to get rid of the high-frequency oscillations and, when possible, to restore the desired interaction model. A thorough experimental validation of the proposed strategy is performed on a group of 26 users performing a cooperative task.
Applied Sciences, 2021
This paper presents a mobile manipulation platform designed for autonomous depalletizing tasks. T... more This paper presents a mobile manipulation platform designed for autonomous depalletizing tasks. The proposed solution integrates machine vision, control and mechanical components to increase flexibility and ease of deployment in industrial environments such as warehouses. A collaborative robot mounted on a mobile base is proposed, equipped with a simple manipulation tool and a 3D in-hand vision system that detects parcel boxes on a pallet, and that pulls them one by one on the mobile base for transportation. The robot setup allows to avoid the cumbersome implementation of pick-and-place operations, since it does not require lifting the boxes. The 3D vision system is used to provide an initial estimation of the pose of the boxes on the top layer of the pallet, and to accurately detect the separation between the boxes for manipulation. Force measurement provided by the robot together with admittance control are exploited to verify the correct execution of the manipulation task. The pr...
Prediction of Human Arm Target for Robot Reaching Movements
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
The raise of collaborative robotics has allowed to create new spaces where robots and humans work... more The raise of collaborative robotics has allowed to create new spaces where robots and humans work in proximity. Consequently, to predict human movements and his/her final intention becomes crucial to anticipate robot next move, preserving safety and increasing efficiency. In this paper we propose a human-arm prediction algorithm that allows to infer if the human operator is moving towards the robot to intentionally interact with it. The human hand position is tracked by an RGB-D camera online. By combining the Minimum Jerk model with Semi-Adaptable Neural Networks we obtain a reliable prediction of the human hand trajectory and final target in a short amount of time. The proposed algorithm was tested in a multi-movements scenario with FANUC LR Mate 200iD/7L industrial robot.
A Control Barrier Function Approach for Maximizing Performance While Fulfilling to ISO/TS 15066 Regulations
IEEE Robotics and Automation Letters, 2020
ISO/TS 15066 is globally recognized as the guideline for designing safe collaborative robotic cel... more ISO/TS 15066 is globally recognized as the guideline for designing safe collaborative robotic cells, where human and robot collaborate in order to fulfill a common job. Current approaches for implementing the ISO/TS 15066 guidelines lead to a conservative behavior (e.g. low velocity) of the robot and, consequently, to poor performance of the collaborative cell. In this letter, we propose an approach based on control barrier functions that allows to maximize the performance of a robot acting in a collaborative cell while satisfying the ISO/TS 15066 regulations. The proposed approach has been successfully validated both in simulation and through experiments.
IEEE Journal of Translational Engineering in Health and Medicine, 2017
Point of care ultrasonography and the related focused assessment with sonography for trauma proto... more Point of care ultrasonography and the related focused assessment with sonography for trauma protocol, if performed by experienced physicians, is a highly sensitive examination, and specific for the detection of free fluids. Different systems and methods have been proposed for training, including simulation as one of the most efficient. This paper presents an ultrasound training system, specifically designed to be used during bedside high fidelity simulation scenarios, that could facilitate the learning process. The development of the proposed system exploited novel rapid prototyping electronic boards as a means to obtain good performances with a low cost. Moreover, the design of the data structure permits the construction of a library that caters for individual needs, with the possibility of adding emergency scenarios, collecting pictures or videos, as well as 3-D volumes. The device has been compared with currently commercial ultrasound simulators and its innovative aspects have been highlighted. Finally, it has been tested during a training session in order to evaluate features, such as realism and user-friendliness. INDEX TERMS Biomedical image processing, medical simulation, point of care ultrasonography, sensor systems and applications, training, ultrasound.
IEEE Transactions on Medical Robotics and Bionics, 2020
Nowadays Robotic assisted Minimally Invasive Surgeries (R-MIS) are the elective procedures for tr... more Nowadays Robotic assisted Minimally Invasive Surgeries (R-MIS) are the elective procedures for treating highly accurate and scarcely invasive pathologies, thanks to their ability to empower surgeons' dexterity and skills. The research on new Multi-Robots Surgery (MRS) platform is cardinal to the development of a new SARAS surgical robotic platform, which aims at carrying out autonomously the assistants tasks during R-MIS procedures. In this work, we will present the SARAS MRS platform validation protocol, framed in order to assess: (i) its technical performances in purely dexterity exercises, and (ii) its functional performances. The results obtained show a prototype able to put the users in the condition of accomplishing the tasks Manuscript
Electronics, 2019
The paper addresses the problem of the generation of collision-free trajectories for a robotic ma... more The paper addresses the problem of the generation of collision-free trajectories for a robotic manipulator, operating in a scenario in which obstacles may be moving at non-negligible velocities. In particular, the paper aims to present a trajectory generation solution that is fully executable in real-time and that can reactively adapt to both dynamic changes of the environment and fast reconfiguration of the robotic task. The proposed motion planner extends the method based on a dynamical system to cope with the peculiar kinematics of surgical robots for laparoscopic operations, the mechanical constraint being enforced by the fixed point of insertion into the abdomen of the patient the most challenging aspect. The paper includes a validation of the trajectory generator in both simulated and experimental scenarios.
Robotics and Computer-Integrated Manufacturing, 2019
The paper presents a procedure for the identification of the inertial parameters of the payload m... more The paper presents a procedure for the identification of the inertial parameters of the payload mounted on the end-effector of a robotic manipulator operating in a collaborative setup. The procedure is therefore designed considering as a primary objective the safe execution of the payload estimation process, in terms of avoidance of physical objects and protected zones within the robot workspace, in which the presence of human operators is allowed and expected. The methods applied in the definition of the proposed operational sequence include a collision-free path planner and a joint trajectory generator that allows the safe execution of specific test motions. In particular, each one of such test motions decouples the effects of all but one inertial parameter of the payload, in order to improve the accuracy of identification. Experimental results on a redundant industrial manipulator demonstrate the feasibility of the proposed identification method.
Proceedings of the 22nd International Symposium on Automation and Robotics in Construction, 2005
In this paper we present a feasible Home Automation System scenario based on a very cheap distrib... more In this paper we present a feasible Home Automation System scenario based on a very cheap distributed microcontroller architecture, rather than on devices interconnected by an expensive commercial bus. The means used for data communication is the home powerline, so that the system doesn't require placing other cables in addition to standard electrical facilities.
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Papers by Marcello BONFE'