The UW-Robotics Lab contains approximately 1600 square feet of laboratory space equipped for conducting robotics experiments. The laboratory is equipped with a variety of equipment, including specialized hardware for medical robotics, manufacturing, and haptics research.
Electromechanical system development is supported in a dedicated prototyping lab equipped with an array of electronic instrumentation and fabrication equipment:
To encourage collaboration, graduate and undergraduate students are collocated in an open-air office environment adjacent ot the prototyping and testing lab space.
Flexible Robotic Catheter Telerobotic Tesbed:
The UW-Robotics Lab contains a multi-axis flexible robotic manipulator testbed designed and constructed for the investigation, development and evaluation of flexible medical robotics devices and their control. The testbed is capable of actuating two flexible robotic devices with up to 5 degrees-of freedom each. The system can be operated in stand-alone mode or as a telerobotic system, utilizing one of three force-reflecting master devices available. The testbed contains the following:
- Force-reflecting 3-axis haptic / master input device
- Multi-functional input control panel with 6 encoded input knobs and a 2-axis input joystick
- Servo-electronics controller capable of independently controlling 12 axes. The power electronics can interface with DC brush, brushless, or stepper motor drives. The controller I/O can accommodate up to 12 encoder inputs.
- 12 degree-of-freedom servomechanism – designed to simultaneously control two, 5 degree-of-freedom flexible catheters
Haptics Interface Hardward:
The lab is equipped with an assortment of haptic devices including a modified delta-type 3 degree-of-freedom interface, a custom MR-compatible linear haptic device, and low-cost haptics devices for system development and prototyping
Interleaved Continuum-Rigid Manipulation Testbed / Prototype:
The UW-Robotics Lab has developed a desktop demonstration prototype designed for the purpose of investigating the interleaved actuation concept. The prototype is shown below in a redundant two degree-of-freedom configuration - with two rigid-link joints (pitch and roll) and two flexible segments (roll and articulation)..
Sensing and Instrumentation Suite:
The UW-Robotics Lab contains a range of localization, imaging, and sensing equipment. The equipment includes an electromagnetic location system suitable for use in flexible robotic feedback control , a soft tissue emulator equipped with a 6 degree-of-freedom force-torque sensor , a pair of stereo imaging cameras for emulation of various medical imaging modalities.
General Robotics Development Hardware, Instrumentation and Prototyping Equipment:
- various cameras (Firewire, USB and other CCD cameras with frame grabbers)
- extensive custom software for robot control, image/video acquisition and processing
- "Open architecture" CRS 6-axis A465 robot manipulator with a servo gripper and Multi-Q data acquisition system
- RWI B-21 Mobile robot
- Scorbot ER-IX manipulator
- various motors/drives/power supplies
- Two Novint Technologies three-axis desktop haptic devices with USB interface – to be used for haptics and tele-robotic software development
- Open architecture Adept-1 three-axis SCARA robot manipulator with a servo gripper.
- Mechanical assembly and prototyping tools, prototyping workbenches and drill press
- Electrical prototyping tools including lab power supplies, a 4 channel 2 GHz oscilloscope, digital multi-meters, signal generator, and various electrical circuit construction tools
In addition to the equipment listed above, lab personnel hav access to the UW-Wisconsin College of Engineering and School of Medicine facilities including
- professionally-staffed machine shop
- Computer support including a large assortment of engineering design and analysis software
- Prototyping systems suitable for fabrication of small scale mechanical structures including fused deposition modeling and stereolithography rapid prototyping systems.