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
Publisher Copyright:© 2017 IEEE.