Robótica de Sistemas Humanos

Objectives

The aim of this curricular unit is to provide students with the fundamental concepts associated with robotic systems for physical interaction with humans, namely exoskeletons and robotic surgery systems. The student’s theoretical training is complemented with the operation of robotic/exoskeleton systems in the laboratory, as well as with the development of applied problems and the completion of an experimental project.

Syllabus

Medical Robotics: Surgical Robotics and Navigation, Instrumentation, minimally invasive interventions, laparoscopic surgery, kinematics of medical robotics, remote center of rotation, bidirectional teleoperation, cooperative manipulation, admittance and impedance control, physical human-robot interaction, backdrivability, haptic feedback, medical imaging and image- guided interventions, registration, tracking and surgical navigation, port placement, surgical simulation, augmented reality. Autonomous robot surgery. Ethical and Safety considerations. Applications in orthopedics, neurosurgery, urology. Neuromechanical Control and Human Robotics: Human Neuromechanical Control and Learning. Single joint neuromechanics, Multi-joint multi-muscle kinematics, Multi-joint dynamics and control, Motor learning and memory, Motor learning under unstable conditions, Motion planning and online control, Integration and Control of Sensory Feedback, Neurorehabilitation, Exoskeletons.

Cross Competence Component

Critical and Innovative thinking (criativity, strategic thinking, approaches to problem solution) - 20% of the Laboratory Project evaluation component Interpersonal Competences (oral presentations, comunication and organizational competences, team work, etc.) - 10% of the Laboratory Project evaluation component Intrapersonal Competences (self discipline, enthusiasm, perserverance, self motivation, stc.) - 5% of the Laboratory Project evaluation component.

Laboratorial Component

1. Implementation and validation of a surgical navigation system. 2. Implementation and validation of a controller for an exoskeleton for human motion.

Programming And Computing Component

Programming in Matlab/Simulink.

Ethical Principles

All members of a group are responsible for the group's work. In any assessment, every student shall honestly disclose any help received and sources used. In an oral assessment, every student shall be able to present and answer questions about the entire assignment and solution.