Based on the key concept of array of micro-robots, the proposed system in the ARAKNES project has to be controlled in order to provide the surgeon with the expected capabilities at just the right time depending on the task he has to perform.
Therefore, beyond the mandatory real-time operating control architecture of the tethered system and the definition control modes, the objectives of this WP concerns the development of a control architecture dedicated to the control of an array of micro-robots including a bimanual and bilateral scheme with force feedback.
It should ensure stability and transparency with respect to the heterogeneous environment, thus providing the surgeon with a good feedback of the various interactions between the robots and the tissues. Finally the whole system should comply with the long-term wireless constraints.
PARTICIPANTS
SSSA Scuola Superiore Sant'Anna, Pisa
ICL Imperial College, London
UNIPI Università di Pisa
EPFL Ecole Polytechnique Fédérale de Lausanne
LIRMM Laboratory of Computer Sciences, Robotics and Microelectronics, Centre National de la Recherche Scientifique
