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dc.contributor.author
Filippeschi, Alessandro
dc.contributor.author
Griffa, Pietro
dc.contributor.author
Avizzano, Carlo A.
dc.date.accessioned
2021-01-22T08:14:22Z
dc.date.available
2021-01-22T03:50:32Z
dc.date.available
2021-01-22T08:14:22Z
dc.date.issued
2021-03
dc.identifier.other
10.3390/robotics10010008
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/464581
dc.identifier.doi
10.3929/ethz-b-000464581
dc.description.abstract
Tele-examination based on robotic technologies is a promising solution to solve the current worsening shortage of physicians. Echocardiography is among the examinations that would benefit more from robotic solutions. However, most of the state-of-the-art solutions are based on the development of specific robotic arms, instead of exploiting COTS (commercial-off-the-shelf) arms to reduce costs and make such systems affordable. In this paper, we address this problem by studying the design of an end-effector for tele-echography to be mounted on two popular and low-cost collaborative robots, i.e., the Universal Robot UR5, and the Franka Emika Panda. In the case of the UR5 robot, we investigate the possibility of adding a seventh rotational degree of freedom. The design is obtained by kinematic optimization, in which a manipulability measure is an objective function. The optimization domain includes the position of the patient with regards to the robot base and the pose of the end-effector frame. Constraints include the full coverage of the examination area, the possibility to orient the probe correctly, have the base of the robot far enough from the patient’s head, and a suitable distance from singularities. The results show that adding a degree of freedom improves manipulability by 65% and that adding a custom-designed actuated joint is better than adopting a native seven-degrees-freedom robot.
en_US
dc.format
application/pdf
en_US
dc.language.iso
en
en_US
dc.publisher
MDPI
en_US
dc.rights.uri
http://creativecommons.org/licenses/by/4.0/
dc.subject
Design synthesis
en_US
dc.subject
Kinematic optimization
en_US
dc.subject
Telemedicine
en_US
dc.subject
Human robot interaction
en_US
dc.title
Kinematic optimization for the design of a collaborative robot end-effector for tele-echography
en_US
dc.type
Journal Article
dc.rights.license
Creative Commons Attribution 4.0 International
dc.date.published
2021-01-01
ethz.journal.title
Robotics
ethz.journal.volume
10
en_US
ethz.journal.issue
1
en_US
ethz.pages.start
8
en_US
ethz.size
17 p.
en_US
ethz.version.deposit
publishedVersion
en_US
ethz.identifier.scopus
ethz.publication.place
Basel
en_US
ethz.publication.status
published
en_US
ethz.date.deposited
2021-01-22T03:50:45Z
ethz.source
SCOPUS
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2021-01-22T08:14:31Z
ethz.rosetta.lastUpdated
2021-02-15T23:29:07Z
ethz.rosetta.versionExported
true
ethz.COinS
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