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Project Name and Acronym |
SYNERAGH – Systems neuroscience and Engineering Research for Anthropomorphic Grasping and Handling |
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Duration |
Feb.1999 – Feb. 2002 |
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Web site |
http://www. |
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Sponsoring promoter |
EU |
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Funding programme |
BRITE Basic Research |
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Keywords |
Neural model, Learning, Visuo-motor control, Grasp planner, Anthropomorphic robotic Hand-arm |
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Co-ordinating group |
CEDETEL, Centro Estud y
Desarrollo TELECOM, Valladoid, Spain |
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Partners (group name, category*) |
CEDETEL, Centro Estud y
Desarrollo TELECOM, Valladoid, Spain ARTS, SSSA Scuola
Superiore Sant’Anna, Pisa, italy, U483 INSERM,
University Pierre et marie Curie - P6, Paris France, CU Lab., Univ. Wales, Cardiff, GB IDEA, Italy, ZENON SA R&D
Dept, England, PCM, Spain CERESYS, Paris France |
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Objectives |
To develop a new neural architecture based on human behaviour |
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Relevant activities |
Definition of a language of opposition space and virtual finger, oriented to design a library of hand gesture in terms of primitives or motor schemas Design and development of anthropomorphic movement simulator Neurophysiological and behavioural oriented design of the manipulation task planner Implementation of learning of kinematics and dynamics, and neural control for the robotic arm and arm-gripper coordination Force control implementation for smooth , flexible and adaptative manipulation Integration of visuo-motor models into syneragh prototype Low-level integration of different sensorial inputs in order to allow the interpretation Integration of new architecture into syneragh prototype (robotic arm, Marcus hand, stereo-head system). |
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Achieved biomedical robotic prototypes/ products |
Development of evaluation tools of grasping and manipulation tasks based on gesture library and of grasp – manipulation planner, GSL language Development of novel hand-arm anthropomorphic robotic structure for aided disabled persons or for personal robotic |
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User/clinical trials |
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objectives |
Helping people with motor disabilities, Transfer of fundamental biological principles from cognitive-motor behaviour to anthropomorphic robotics, Application of syneragh principle in Rehabilitation robotic, personal robot, domotic applications |
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robotic systems |
SYNERAGH Prototype NEUROCOR prototype |
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methodologies |
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involved users (number and category) |
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main results |
Experimental studies on grasping tasks with motion analysis devices Design and development of Gesture library and GSL (Gesture simulation language) Integration of brain functionalities in robotic applications Design of new learning process for the grasping tasks |
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clinical partners |
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other relevant information |
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Name |
Short description° |
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Group name |
Category* |
Contacts |
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Electronic laboratory |
ORCAD, … |
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Mechanical laboratory |
Traditional machine, Numerical control machines, Pro-Ing, AUTOCAD, RobCAD, CATIA, ADAMS, … |
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Software laboratory |
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Robotic equipment |
Pneumatic Humanoid Robot BIPMAN, RMH Rehabilitation Multifunction Hand (5dof hand) Stereo-head system LINE, Dexter Arm (8 dof anthropomorphic arm) Puma 562 (6 dof arm) Marcus Hand (2 dof prosthetic hand, to be
mounted on the Dexter and PUMA arms) Manus Manipulator (6 dof wheelchair-mounted
arm, with a 1 dof gripper) Handy 1 robotic system (simple robotic arm
for feeding disabled persons) RWI –B21 mobile base (equipped with US and IR sensory system, laser self-localisation system and on-board cameras) |
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Other |
1 Stand-up Electric wheelchairs (Ulysse type) Netsight Vision System 2 TGR Explorer electric wheelchairs (with wheels tracks, able to climb stairs) |
_____D. Taddeucci,
P.Gorce, Y. Burnod, J. L. Coronado, J. L. Pedrono-Molina, A. Guerrero-Gonzalez,
C. Lashi, P. Dario, « SYNERAGH, a European project on Anthropomorphic
Grasping and Handling for Humanoid Robots », IEEE RAS International Conference on Humanoid Robots, MIT,
Cambridge, Sept. 7-8, 2000 USA,
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