Supplemental Material for Case Study about Challenges in Soft Tissue Manipulation

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Wnuk, Markus-Christian; Jaensch, Florian; Tomzik, David Adrian; Chen, Zixiao; Terfurth, Jonathan; Kandasamy, Sivakumar; Shahabi, Jalil; Garrett, Amy; Mahmoudinezhad, Masoumeh H.; Csiszar, Akos; Xu, Weiliang; Röhrle, Oliver; Verl, Alexander, 2020, "Supplemental Material for Case Study about Challenges in Soft Tissue Manipulation", https://doi.org/10.18419/DARUS-482, DaRUS, V1

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Description	Supplemental image and video material for the paper "Challenges in robotic soft tissue manipulation - Problem identification based on an interdisciplinary case study of a teleoperated drawing robot in practice" presented at the 2019 conference M2VIP. The presented results are the outcome of the 2019 summer school project within the International Research Training Group (IRTG) "Soft Tissue Robotics". Please refer to the project homepage for further information on the IRTG : https://www.str.uni-stuttgart.de/. The setup was used for the analysis and identification of challenges in soft tissue manipulation with rigid robots. It was built by a team of PhD students within one week of interdisciplinary work during the 2019 summer school at the University of Auckland. The setup consists of a 6-axis robot (UR5 of Universal Robots), which has a flexible pen with integrated flex sensors as end effector. A balloon is attached to a fixture in front of the robot which is equipped with a load cell for z-axis force measurement. For the human-machine interface, a haptic device is used. The control for these components is implemented as a distributed control architecture using several PCs and microcontrollers. The robot control is controlled by teleoperation. The forces measured at the end effector are feed back to the operator through the haptic decive. For more information on the utilized teleoperation framework refer to the paper of Gorjup et al. which is listed as related publication. (2019-10-28)
Subject	Computer and Information Science; Engineering
Related Publication	Gal Gorjup, Anany Dwivedi, Nathan Elangovan, and Minas Liarokapis, "An Intuitive, Affordances Oriented Telemanipulation Framework for a Dual Robot Arm Hand System: On the Execution of Bimanual Tasks," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019https://www.researchgate.net/publication/335234550_An_Intuitive_Affordances_Oriented_Telemanipulation_Framework_for_a_Dual_Robot_Arm_Hand_System_On_the_Execution_of_Bimanual_Tasks
License/Data Use Agreement	CC BY 4.0

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	Drawing_Result.jpg JPEG Image - 190.7 KB Published Feb 10, 2020 264 Downloads MD5: 8a3922852573e0733571d40380350cb6 Close-up view of the end effector of the case study’s setup during a drawing process of the letters “IRTG”.	Preview "Drawing_Result.jpg" Access File File Access Public Download Options JPEG Image Download Metadata Data File Citation EndNote XML RIS BibTeX
	Overall_Setup.jpg JPEG Image - 153.9 KB Published Feb 10, 2020 288 Downloads MD5: 9ba47d2488f1ba6050de74139c5bed3e Overview of the setup during teleoperated drawing.	Preview "Overall_Setup.jpg" Access File File Access Public Download Options JPEG Image Download Metadata Data File Citation EndNote XML RIS BibTeX
	Setup_Schematic.png PNG Image - 65.1 KB Published Feb 10, 2020 250 Downloads MD5: b1f34f7a2315861aba4c04ecc09920df Schematic depiction of the setup of the practical case study.	Preview "Setup_Schematic.png" Access File File Access Public Download Options PNG Image Download Metadata Data File Citation EndNote XML RIS BibTeX
	Supplemental_Video_Challenges_in_Soft_Tissue_Manipulation.mp4 MPEG-4 Video - 306.9 MB Published Feb 10, 2020 39 Downloads MD5: f5a35c6350d6fb9f8f3bc72c1e32c394 Video of the setup used for the identification of challenges in soft tissue manipulation. The setup was built during the 2019 summer school at the University of Auckland (New Zealand) within the IRTG "Soft Tissue Robotics".	Preview "Supplemental_Video_Challenges_in_Soft_Tissue_Manipulation.mp4" Access File File Access Public Download Options MPEG-4 Video Download Metadata Data File Citation EndNote XML RIS BibTeX

Citation Metadata

Persistent Identifier	doi:10.18419/DARUS-482
Publication Date	2020-02-10
Title	Supplemental Material for Case Study about Challenges in Soft Tissue Manipulation
Author	https://ror.org/04vnq7t770000-0003-3022-3195 https://ror.org/04vnq7t770000-0002-5704-2397 University of Auckland0000-0002-6206-120X Chen, ZixiaoUniversity of Auckland Terfurth, JonathanUniversity of Auckland Kandasamy, SivakumarUniversity of Auckland Shahabi, JalilUniversity of Auckland Garrett, AmyUniversity of Auckland Mahmoudinezhad, Masoumeh H.University of Auckland https://ror.org/04vnq7t771144965179 Xu, WeiliangUniversity of Auckland https://ror.org/04vnq7t770000-0002-1934-6525 https://ror.org/04vnq7t770000-0002-2548-6620
Point of Contact	Use email button above to contact. Wnuk, Markus-Christian (Universität Stuttgart)
Description	Supplemental image and video material for the paper "Challenges in robotic soft tissue manipulation - Problem identification based on an interdisciplinary case study of a teleoperated drawing robot in practice" presented at the 2019 conference M2VIP. The presented results are the outcome of the 2019 summer school project within the International Research Training Group (IRTG) "Soft Tissue Robotics". Please refer to the project homepage for further information on the IRTG : https://www.str.uni-stuttgart.de/. The setup was used for the analysis and identification of challenges in soft tissue manipulation with rigid robots. It was built by a team of PhD students within one week of interdisciplinary work during the 2019 summer school at the University of Auckland. The setup consists of a 6-axis robot (UR5 of Universal Robots), which has a flexible pen with integrated flex sensors as end effector. A balloon is attached to a fixture in front of the robot which is equipped with a load cell for z-axis force measurement. For the human-machine interface, a haptic device is used. The control for these components is implemented as a distributed control architecture using several PCs and microcontrollers. The robot control is controlled by teleoperation. The forces measured at the end effector are feed back to the operator through the haptic decive. For more information on the utilized teleoperation framework refer to the paper of Gorjup et al. which is listed as related publication. (2019-10-28)
Subject	Computer and Information Science; Engineering
Related Publication	Gal Gorjup, Anany Dwivedi, Nathan Elangovan, and Minas Liarokapis, "An Intuitive, Affordances Oriented Telemanipulation Framework for a Dual Robot Arm Hand System: On the Execution of Bimanual Tasks," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019 https://www.researchgate.net/publication/335234550_An_Intuitive_Affordances_Oriented_Telemanipulation_Framework_for_a_Dual_Robot_Arm_Hand_System_On_the_Execution_of_Bimanual_Tasks
Language	English
Production Date	2019-03-26
Production Location	University of Auckland
Contributor	Project Member: Jaensch, Florian Project Member: Wnuk, Markus-Christian Project Member: Tomzik, David Adrian Project Member: Chen, Zixiao Project Member: Terfurth, Jonathan Project Member: Kandasamy, Sivakumar Project Member: Shahabi, Jalil Project Member: Garrett, Amy Project Member: Mahmoudinezhad, Masoumeh H. Project Manager: Csiszar, Akos Project Manager: Galliani, Simona Supervisor: Xu, Weiliang Supervisor: Röhrle, Oliver Supervisor: Verl, Alexander Supervisor: Cheng, Leo Related Person: Paskaranandavadivel, Nira Researcher: Gorjup, Gal Researcher: Liarokapis, Minas Related Person: Deines, Inga
Project	IRTG Soft Tissue Robotics
Funding Information	Deutsche Forschungsgemeinschaft: GRK 2198/1 University of Auckland: Vice-Chancellor’s Strategic Development Fund Auckland Bioengineering Institute of the University of Auckland: Faculty Research Development Fund
Depositor	Wnuk, Markus-Christian
Deposit Date	2019-10-28
Data Type	image data; video data

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