Inherent in normal human hand motion are numerous position error components. These include physiological hand tremor, jerk, and low-frequency wander. The work in Intelligent Instruments seeks to develop instrumentation and human-machine interfaces that can compensate for such error. The advancement tremor compensation methods will enable progress in areas like microsurgery where the magnitude of intended motion is on the order of tremmor motion.
This technology may also make life easier for people afflicted with pathological movement disorders. In patients with movement disorders, involuntary motion interferes with quality of life and independence in daily living. The advances made here offer hope for those afflicted by developing human-machine interfaces that are tolerant of such involuntary motion.
Projects:
Errors such as physiological tremor and wander cause errors in microsurgery, laboratory microinjection, and microassembly. Movement disorders such as pathological tremor, athetosis, and ataxia limit the everyday function of many persons. Adaptive filters and neural networks are being used for real-time filtering and canceling of errors in tasks such as microsurgery, microinjection and the use of powered wheelchairs by the disabled.
Project Contact: Pradeep K. Khosla
The Robotic Neurosurgical Probe Guide, built in conjunction with University of Pittsburgh's Medical School, assists the surgeon in choosing an incision site. It allows the surgeon to accurately place the probe tip while still allowing the surgeon to "feel" the insertion forces, using force-feedback.
Project Web Site: None Available
Project Contact: Pradeep K. Khosla
