Browsing by Author "Lin, Wei-Che"

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Design and Experiment of a Human-Touch Robot
(2014)
Song, Kai-Tai
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Jiang, Sin-Yi
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Lin, Ming-Han
;
Wu, Cheng-Hei
;
Chiu, Yi-Fu
In this paper we propose a shared-control based teleoperation design for a dual-arm omnidirectional mobile robot. The robot not only can adapt its motion to environment autonomously, but also move according to the user\'s remote commands. To achieve this goal, a shared-control scheme for effective remote control of the mobile robot is developed. For tele-presence and remote control, a user interface is designed for a smart phone/tablet. The proposed controller determines the human and autonomy control gains by computing user\'s confidence factor. In this approach, the robot assists a user to manipulate its motion from a remote site by compensating local insufficiency of human remote control. Practical experiments validate the proposed design and demonstrate that the proposed shared-control approach of a dual-arm omnidirectional mobile robot can have potential use for future home service tasks.
Instrument Contact Force Estimation Using Endoscopic Image Sequence and 3D Reconstruction Model
(2016-01-01)
Lin, Wei-Che
;
Song, Kai-Tai
;
電控工程研究所
;
Institute of Electrical and Control Engineering
This paper presents a method to estimate contact force for minimally invasive surgery (MIS) using endoscopic imagery. In order to provide surgeons the information of contact force as surgical instruments get contact to human tissue, we developed a method to calculate tissue deformation by reconstructing 3D model using real-time image processing. The force information will be fed back to a haptic device to allow the surgeon to feel contact force as well as to show the force value on monitor for the surgeon. We propose a 3D reconstruction method to model the tissue surface under deformation, and use the deformation data to obtain contact force near the instrument tip. Using image tracking, we locate a surgical instrument in the endoscopy scene, then determine the deformation area in the image scene. Several experiments validate the effectiveness of method of deformation calculation.