Location
https://www.kennesaw.edu/ccse/events/computing-showcase/fa25-cday-program.php
Document Type
Event
Start Date
24-11-2025 4:00 PM
Description
This project presents a modular vision-guided robotic framework for safe deltoid intramuscular injection. An external YOLO-based detector localizes the deltoid region and outputs a 3D injection point in the robot base frame. In NVIDIA Isaac Sim, a simulated myCobot 280 arm receives this point, and a deep reinforcement learning policy generates a safe approach pose under kinematic and safety constraints, while a deterministic controller executes the final straight-line insertion and withdrawal. A safety supervisor monitors target validity, joint limits and distance to a simplified arm model, triggering immediate stop and retraction when unsafe conditions arise.
Included in
GRP-21186 A Safe Vision-Guided Robotic Injection Control Framework Based on Reinforcement Learning
https://www.kennesaw.edu/ccse/events/computing-showcase/fa25-cday-program.php
This project presents a modular vision-guided robotic framework for safe deltoid intramuscular injection. An external YOLO-based detector localizes the deltoid region and outputs a 3D injection point in the robot base frame. In NVIDIA Isaac Sim, a simulated myCobot 280 arm receives this point, and a deep reinforcement learning policy generates a safe approach pose under kinematic and safety constraints, while a deterministic controller executes the final straight-line insertion and withdrawal. A safety supervisor monitors target validity, joint limits and distance to a simplified arm model, triggering immediate stop and retraction when unsafe conditions arise.