BME Seminar Series: Dr. Arthur Ritter

Goergen Hall 101 (Sloan Auditorium)

"Research Projects in the Biorobotics and Motion Capture Labs"
Arthur B. Ritter, Ph.D., FAIMBE
Distinguished Service Professor
Stevens Institute of Technology

Abstract 

In the Biorobotics lab we are focused on Haptics feedback of touch for robotic and minimally invasive surgery. We have demonstrated that force feedback using a simple game controller can be achieved from robotic end effectors. We have also designed a MEMS version of the force sensor that can be sterilized using standard techniques. Our current projects include mimicking size and shape discrimination and surface characterization of objects to further enhance haptic feedback of touch in robotic surgery.

We have recently acquired a marker-less 12 camera 3-D motion capture system which we are using for gait and robotic stair climbing analysis. The motion capture system is augmented with 3-D accelerometers on ankle, knees and hips as well as pressure sensors in the shoes of both feet. This gives us force (mass x acceleration), and angle measurements in 3 dimensions as well as foot pressure distributions as a function of time using a frame-by-frame analysis of the video camera frames. One of the projects is to develop a vestibular control system that will allow untethered, bipedal robots to climb stairs.

In Brain-computer interfaces (BCI) we have shown that non-invasive measurements of EEG signals can be used to infer intent to move a limb and have the potential to drive lower limb prostheses. We have also demonstrated that training allows individuals to move a computer curser to a target in 1 and 2 dimensions within 10 seconds using a simple, low cost EEG headset. This project is being extended to 3 D to determine training time as well as accuracy and reproducibility.