Welcome to the Robotics Infrastructure Development Project at the Laboratory for Computational Sensing and Robotics (LCSR) at Johns Hopkins University. Our project team is developing infrastructure for integrated sensing, modeling, and manipulation with robotic and human-machine systems. We are creating a publicly available framework of software, mechatronics, and hardware. Two major research platforms will be created: an assistive robotics system with arms and hands, and a robot-assisted surgical system with integrated, enhanced visualization. Researchers at other institutions will be able to use our disseminated materials to design their own systems, as well as visit LCSR to access our experimental platforms. This infrastructure will enable new science by facilitating difficult systems level robotics research, broadening the accessibility to advanced robotic capabilities, and promoting the interchange of information in the field.
“Integrated robotic systems that fuse multimodal sensory information to enhance models and manipulate the environment will positively impact human lives, particularly in health care, safety, and human assistance.”
|Allison M Okamurafirstname.lastname@example.org||Haptics Laboratory|
|Noah J Cowanemail@example.com||LIMBS Laboratory|
|Gregory D Hagerfirstname.lastname@example.org||CIRL|
|Peter Kazanzidesemail@example.com||SMARTS Laboratory|
|Russell H Taylorfirstname.lastname@example.org||CISST|
|Gregory Chirikjian||Professor||Mechanical Engineering|
|Ralph Etienne-Cummings||Professor||Electrical and Computer Engineering|
|Gabor Fichtinger||Associate Research Professor||Computer Science (also Associate Professor at Queen’s University)|
|Stephen S. Hsiao||Professor||Neuroscience|
|Jin Kang||Professor||Electrical and Computer Engineering|
|Nitish Thakor||Professor||Biomedical Engineering|
|Rene Vidal||Assistant Professor||Biomedical Engineering|
|Louis Whitcomb||Professor||Mechanical Engineering|
|Iulian Iordachita||Assistant Research Professor||Mechanical Engineering|
|Anton Deguet||Senior Software Engineer|
|Balazs Vagvolgyi||Senior Software Engineer|
|Katherine Kuchenbecker||Assistant Professor (formerly JHU Postdoc)||University of Pennsylvania|
|Nabil Simaan||Associate Professor||Vanderbilt University|
|Marcia O’Malley||Assistant Professor||Rice University|
|Kevin Cleary||Technical Director, Sheikh Zayed Institute||Childrens National Medical Center|
|Jaydev Desai||Associate Professor||University of Maryland|
|Chris Hasser||Director of Applied Research||Intuitive Surgical Inc.|
|Robert Howe||Professor||Harvard University|
We have designed a new controller using IEEE 1394 (Firewire) for communications. This controller consists of two boards: an IEEE-1394 FPGA Controller and a Quad Linear Amplifier. Key features of this controller are:
All design files are available in the public SVN repository, with a Trac interface that includes a wiki for documentation:
The git repositories include the schematic and PCB design files (Altium Designer format) and the FPGA (Verilog) source code.
The cost of one 4-axis board set (one FPGA and one QLA) is about $1,150, assuming a total run of at least 40 board sets. The price will decrease with larger quantities.
See Design Review 1 presentation (pdf) for an early design review; the resulting design decisions and user requirements are summarized below:
|DESIGN QUESTIONS||CURRENT PLAN|
|Use the 4-pin, 6-pin, or 9-pin IEEE-1394 connector?||Use 6-pin connector, so that bus can provide logic power. Include power input connector so laptops can use 4-pin to 6-pin adapter and separate power supply. Can also use 9-pin to 6-pin adapter cable.|
|Should the controller consist of one or two physical boards?||Two boards: one for digital circuits (IEEE-1394 interface and FPGA) and one for I/O and power amplifiers|
|How many axes per board?||4 (same as LoPoMoCo)|
|What type of connectors for motors and sensors?||DB9 for motors (assuming they can handle the current) and VHDCI-68 for sensors (same connectors and pinout as LoPoMoCo)|
|What is the required continuous current?||At least 5 Amps, probably not more than 8 Amps|
|What is the maximum motor supply voltage?||Will support up to 48V motors (probably up to 60V supply)|
|Should the amplifier control motor current, voltage, or either?||Current control only (LoPoMoCo supported either)|
The data linked below is described in
It is stored in the .mat v5 format, readable by Matlab and Octave. Loading this file will provide a cell array named models, which is size 18-x-16, indexed by model number then by indentation level. Each element is a 12-x-6 tactile image.
will give a 12-x-6 image of model X at indentation level Y.
X: Models 1 – 18 (shown below)
Y: Indentation of model into sensor (0.25 mm – 4.0 mm, by 0.25 mm increments).
where the D and B values are as described in the paper (D1=1.5mm, D2=2.5mm, D3=3.5mm, B1=6.5mm, B2=9.5mm, B3=12.5mm). The image units denote sensor voltages. Please refer to the paper for additional details.