2^nd Public Report

In tests with the existent assistance robot system and a mechanical simulator developed in the previous “AssRob Project” the alignment of the robot was examined. It was found that the workspace gets increasingly reduced as function of the attached end-effectors length. This result will be considered when optimizing the coupling devices. A further result of the tests was that the flow of forces of the current gripper design results in discharging the less powerful joints of the robot, as planed.

For the tracking of medical retractor by the robot system we decided to use a RGB-D sensor for the pose estimation of the tools, mounted on a fixed location. The tracking method will be based on shape recognition and for that we will attach a rigid-body to the tool.