Precision-robotics

Robots are frequently applied in industry and much research is done on many places on extending its use in more domestic environments where contact with people cannot be avoided. This poses severe constraints on safety but also on reliability and precision of operation. The focal point of our research is on precision and in principle a modern industrial robot is a real precision instrument by virtue of an extremely stiff construction and powerful actuation systems with a fast and accurate controller. These are all factors that reduce the safety in a human environment for which reasons more lightweight, compliant structures are preferred with soft edges and low-stiffness control and this all comes at a sacrifice in precision.

The research in our group focuses on the goal to achieve precision in lightweight robots without sacrificing safety.

One example of this research is a haptic master-slave robot for micro-assembly of miniaturised parts. The haptic master should be compatible with the human operator without the possibility to cause harm but also without sacrifice on precision. This research has resulted in new mechanisms where the actuation and sensing is remote from the human operator and where the lowest mass is possible.


Mechatronic optimal design of parallel haptic master devices

The objective of this research is to develop principles for optimal mechatronics design of haptic parallel master devices. To achieve this goal, insights from systems engineering, mechatronics and optimization theory will be combined and the research will be done in close collaboration with other researchers and industry involved in the H-Haptics project.

PhD Thesis: Parallel manipulators with two end-effectors


Haptic slave robot

This project investigates ways to support a human micromanipulation operator in a haptic teleoperation scenario, from a human centered perspective. The project encompasses the analysis of the micromanipulation process, multimodal interaction and support strategies, but also the design of hardware components like force sensors and positioning stages.

PhD Thesis: Slave-side devices for micromanipulation in a haptic teleoperation scenario


Wearable arm orthosis for Duchenne patients

This project project aims to develop an inconspicuous body-bound assistive device that can be worn underneath clothing and supports the arm for the independent execution of essential activities of daily living.

PhD Thesis: Slender Spring Systems, for a close-to-body dynamic arm support for people with Duchenne muscular dystrophy