Task Modeling and Specification for Modular Sensory Based Human-Machine Cooperative Systems

D. Kragic, Gregory Hager

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper is directed towards developing Human-Machine Cooperative Systems (HCMS) for augmented surgical manipulation tasks. These tasks are commonly repetitive, sequential, and consist of simple steps. The transitions between these steps can be driven either by the surgeon's input or sensory information. Consequently, complex tasks can be effectively modeled using a set of basic primitives, where each primitive defines some basic type of motion (e.g. translational motion along a line, rotation about an axis, etc.). These steps can be "open-loop" (simply complying to user's demands) or "closed-loop, in which case external sensing is used to define a nominal reference trajectory. The particular research problem considered here is the development of a system that supports simple design of complex surgical procedures from a set of basic control primitives. The three system levels considered are: i) task graph generation which allows the user to easily design or model a task, ii) task graph execution which executes the task graph, and iii) at the lowest level, the specification of primitives which allows the user to easily specify new types of primitive motions. The system has been developed and validated using the JHU Steady Hand Robot as an experimental platform.

Original languageEnglish (US)
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages3192-3197
Number of pages6
Volume4
StatePublished - 2003
Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
Duration: Oct 27 2003Oct 31 2003

Other

Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityLas Vegas, NV
Period10/27/0310/31/03

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Specifications
End effectors
Trajectories
Robots

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Kragic, D., & Hager, G. (2003). Task Modeling and Specification for Modular Sensory Based Human-Machine Cooperative Systems. In IEEE International Conference on Intelligent Robots and Systems (Vol. 4, pp. 3192-3197)

Task Modeling and Specification for Modular Sensory Based Human-Machine Cooperative Systems. / Kragic, D.; Hager, Gregory.

IEEE International Conference on Intelligent Robots and Systems. Vol. 4 2003. p. 3192-3197.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kragic, D & Hager, G 2003, Task Modeling and Specification for Modular Sensory Based Human-Machine Cooperative Systems. in IEEE International Conference on Intelligent Robots and Systems. vol. 4, pp. 3192-3197, 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States, 10/27/03.
Kragic D, Hager G. Task Modeling and Specification for Modular Sensory Based Human-Machine Cooperative Systems. In IEEE International Conference on Intelligent Robots and Systems. Vol. 4. 2003. p. 3192-3197
Kragic, D. ; Hager, Gregory. / Task Modeling and Specification for Modular Sensory Based Human-Machine Cooperative Systems. IEEE International Conference on Intelligent Robots and Systems. Vol. 4 2003. pp. 3192-3197
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