Study programme 2020-2021Français
Robotics and Biomedical Applications
Programme component of Master's in Electrical Engineering : Specialist Focus on Signals, Systems and BioEngineering à la Faculty of Engineering

Students are asked to consult the ECTS course descriptions for each learning activity (AA) to know what special Covid-19 assessment methods are possibly planned for the end of Q3

CodeTypeHead of UE Department’s
contact details
UI-M1-IRELBS-005-MCompulsory UEVERLINDEN OlivierF703 - Mécanique rationnelle, Dynamique et Vibrations
  • VERLINDEN Olivier

of instruction
of assessment
HT(*) HTPE(*) HTPS(*) HR(*) HD(*) CreditsWeighting Term
  • Anglais
Anglais282800455.001st term

AA CodeTeaching Activity (AA) HT(*) HTPE(*) HTPS(*) HR(*) HD(*) Term Weighting
I-MRDV-100Robotics and Biomedical Applications2828004Q1100.00%
Programme component

Objectives of Programme's Learning Outcomes

Learning Outcomes of UE

Get acquainted with the fundamentals of robotics: geometry, dynamics and control.
Get an overview of the specific issues and challenges related to the application of robotics in surgery and assistive devices in terms of mechanical design, sensing, control and safety.

Content of UE

Introduction: industrial and medical robots, market.
Rehabilitation and active prosthetic/orthotic devices, typical structures, challenges, specificities of medical robots (safety, sterility, surgical theater), advantages of robots in medicine, examples of applications.
Robot Kinematics: degrees of freedom, 3D rigid-body kinematics, direct and inverse geometric and kinematic models, Denavit-Hartenberg parameters, manipulability, trajectory planning, differential kinematics.
Robot Dynamics: equations of motion, contributions of inertia, gravity, friction, direct and inverse dynamic models of robots.
Actuation: electrical motors in robotics and mechanical transmissions.
Sensors: proprioceptive and exteroceptive sensors for position, velocity and force.
Control of industrial robots: joint/operational space control, decentralized control, position/velocity feedback, feedforward compensation, gravity compensation, inverse dynamic control, force control.
Control strategies in biomedical applications: compliance control, hybrid force/motion control, haptic control.
Some applications of robots in surgery: orthopedic surgery, laparoscopic surgery (AESOP, ZEUS, Da Vinci robots), radiotherapy, technical requirements, interoperative sensors, augmented reality, telemanipulation.
Rehabilitation and prosthetic/orthotic medical devices for lower limbs: main characteristics of human walking (neuro-musculo-skeletal system), mechanical design, control strategies.
Design of medical devices: specifications, standards (european directives 93/42/EEC and 2017/745, ISO13485, ISO22523, IEC62304, ISO14971, ...).
Testimonies from physicians, visits.

Prior Experience

Fundamentals in geometry, kinematics and dynamics of mechanical systems.
Fundamentals of control theory.
Fundamentals of instrumentation.

Type of Assessment for UE in Q1

  • Presentation and/or works
  • Oral examination

Q1 UE Assessment Comments

The evaluation will be based on 3 items: - the reports related to workshops (description of context and methods, results (20% of the mark);
- a report in English (30% of the mark) on a recent development in medical robotics, the subject being proposed by the student but necessarily previously approved by the teacher who will give some specific questions to answer;
- an oral examination (50% of the mark), for which the students may have their notes at hand during one hour.

Type of Assessment for UE in Q3

  • Oral examination

Q3 UE Assessment Comments

Same as Q1.

Type of Resit Assessment for UE in Q1 (BAB1)

  • N/A

Q1 UE Resit Assessment Comments (BAB1)

Not applicable

Type of Teaching Activity/Activities

AAType of Teaching Activity/Activities
  • Cours magistraux
  • Conférences
  • Travaux pratiques
  • Excursions, visites

Mode of delivery

AAMode of delivery
  • Face to face

Required Reading


Required Learning Resources/Tools

AARequired Learning Resources/Tools
I-MRDV-100Not applicable

Recommended Reading


Recommended Learning Resources/Tools

AARecommended Learning Resources/Tools
I-MRDV-100"Robotics. Modelling, Planning and Control", Siciliano, B., Sciavicco, L., Villani, L., Oriolo, G., Springer, 2010
"Robotics, Vision and Control", P. Corke, Springer tracks in robotics, Springer, 2013
"Springer Handbook of Robotics", B. Siciliano & O. Khatib, Springer, 2008
"Medical Robotics", J. Troccaz, ISTE (London)/John Wiley & Sons (Hoboken, USA), 2012
"Intelligent Assistive Robots", S. Mohammed et al, Springer tracks in robotics, Springer, 2015

Other Recommended Reading

AAOther Recommended Reading
I-MRDV-100Not applicable

Grade Deferrals of AAs from one year to the next

AAGrade Deferrals of AAs from one year to the next
(*) HT : Hours of theory - HTPE : Hours of in-class exercices - HTPS : hours of practical work - HD : HMiscellaneous time - HR : Hours of remedial classes. - Per. (Period), Y=Year, Q1=1st term et Q2=2nd term
Date de génération : 09/07/2021
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