Biorobotics Research Group

 Laboratory Facility

The research laboratory of the Biorobotics Research Group is equipped with the state-of-the-art robotic facilities. The uniform real-time computing platform and the available sensory systems would easily all for construction of suitable experimental testbeds for various projects.

 

1- Phantom Premium haptic device + Gimbals (Two copies)

Manufacturer: Sensable Technologies Corp., Boston, MA, USA

DOFs: Three active (linear) + three passive (rotary)

Utility: Haptic-based Ultrasound Training and Examination System, Spinal Needle Insertion Simulator, Controller design for telerobotic and haptic simulation systems, Force observation

 

2- Planar twin pantorgraph haptic device (Two copies)

Manufacturer:Quanser Consulting Inc.,  Markham, Ontario

DOFs: Three active (two linear, one rotary)

Utility: Dual-user haptic simulation system, Robot-assisted needle insertion system, Environment System Identification, Controller design for telerobotic and haptic simulation systems

 

3- Mirage haptic device + Gimbal (One copy)

Manufacturer: Quanser Consulting Inc., Markham, Ontario

DOFs: Three active (linear) + three passive (rotary)

Utility: Controller design for telerobotic and haptic simulation systems

 

4- 1-DOF Exoskeleton haptic Device (One copy)

Manufacturer: BKIN Technologies, Kingston, Ontario

Accessories: 8 channel of active electromyography sensors AE100 from Invenium Technologies corp.

Utility: Modeling of Human arm, Controller design for telerobotic and haptic simulation systems, Control systems design for prosthetic arms. The device can also be used in an end-effector grasping configuration.

 

5-  1-DOF rigid robotic beam (One copy) and a bank of environment components

Manufacturer: BKIN Technologies, Kingston, Ontario

Accessories: One laser rangefinder .

Utility: Controller design for telerobotic and haptic simulation systems, Control systems design for prosthetic arms.

 

6- CRS 465 with open architecture control + End Effector (One copy)

Manufacturer: Thermo Scientific  (Robot) and Quanser Consulting Inc. (Open-Architecture)

DOFs: Three linear and three rotary

Utility: Controller design for telerobotic and haptic simulation systems

 

7- Force/torque Sensors