Abstract
This paper establishes the feasibility of robotically 3D printing biomaterials such as alginate hydrogels onto moving human anatomy and a stationary plane. The alginate hydrogels used are in-vivo compatible and a proven biomaterial for tissue scaffolds. We developed a control scheme for precision material deposition via piezo microjetting while tracking in real-time to continuously sense anatomy location and deposits material in a predefined trajectory derived from two pre-selected target geometries. We show that multilayer 3D structures can be created on a moving human hand with 1.6 mm average error and 87.8 % overall accuracy.
Original language | English (US) |
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Title of host publication | IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 934-940 |
Number of pages | 7 |
ISBN (Electronic) | 9781538626825 |
DOIs | |
State | Published - Dec 13 2017 |
Event | 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada Duration: Sep 24 2017 → Sep 28 2017 |
Publication series
Name | IEEE International Conference on Intelligent Robots and Systems |
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Volume | 2017-September |
ISSN (Print) | 2153-0858 |
ISSN (Electronic) | 2153-0866 |
Other
Other | 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 |
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Country/Territory | Canada |
City | Vancouver |
Period | 9/24/17 → 9/28/17 |
Bibliographical note
Funding Information:We would like to thank the MnDRIVE Robotics, Sensors, and Advanced Manufacturing initiative for financial support. Research was sponsored in part by the Army Research Laboratory and was accomplished under Cooperative Agree- ment Number W911NF-14-2-0035. The views and conclusions contained in this document are those of the authors and should not be interpreted as representing the official policies, either expressed or implied, of the Army Research Laboratory or the U.S. Government. The U.S. Government is authorized to reproduce and distribute reprints for Government purposes notwithstanding any copyright notation herein.
Publisher Copyright:
© 2017 IEEE.