Related papers: A cable-driven parallel manipulator with force sen…
The real-time assessment of complex motor skills presents a challenge in fields such as surgical training and rehabilitation. Recent advancements in neuroimaging, particularly functional near-infrared spectroscopy (fNIRS), have enabled…
In this paper, we introduce a novel parallel contact algorithm designed to run efficiently in High-Performance Computing based supercomputers. Particular emphasis is put on its computational implementation in a multiphysics finite element…
Transfer matrices and matrix product operators play an ubiquitous role in the field of many body physics. This paper gives an ideosyncratic overview of applications, exact results and computational aspects of diagonalizing transfer matrices…
Robotic manipulation of deformable linear objects (DLOs) is an active area of research, though emerging applications, like automotive wire harness installation, introduce constraints that have not been considered in prior work. Confined…
The paper focuses on the kinematics control of a compliant serial manipulator composed of a new type of dualtriangle elastic segments. Some useful optimization techniques were applied to solve the geometric redundancy problem, ensure the…
For several centuries, far-field optical microscopy has remained a key instrument in many scientific disciplines including physical, chemical and biomedical research. Nonetheless, far-field imaging has many limitations: the spatial…
Towards the goal of robots performing robust and intelligent physical interactions with people, it is crucial that robots are able to accurately sense the human body, follow trajectories around the body, and track human motion. This study…
Wearable robotics have the capacity to assist stroke survivors in assisting and rehabilitating hand function. Many devices that use surface electromyographic (sEMG) for control rely on extrinsic muscle signals, since sEMG sensors are…
Flexible continuum manipulators are valued for minimally invasive surgery, offering access to confined spaces through nonlinear paths. However, cable-driven manipulators face control difficulties due to hysteresis from cabling effects such…
Optically levitated nanoparticles in vacuum experience both electrostatic and light-induced dipole-dipole interactions, offering a versatile platform to explore mesoscopic entanglement and many-body dynamics. A significant challenge in…
Bimanual robot manipulators can achieve impressive dexterity, but typically rely on two full six- or seven- degree-of-freedom arms so that paired grippers can coordinate effectively. This traditional framework increases system complexity…
We begin this paper by presenting our approach to robot manipulation, which emphasizes the benefits of making contact with the world across the entire manipulator. We assume that low contact forces are benign, and focus on the development…
We have developed a Parallel Integrated Control and Training System, leveraging the deep reinforcement learning to dynamically adjust the control strategies in real time for scanning probe microscopy techniques.
In the context of the Large Binocular Telescope project, we present the results of force actuator calibrations performed on an adaptive secondary prototype called P45, a thin deformable glass with magnets glued onto its back.…
Humans are able to manipulate Deformable Linear Objects (DLOs) such as cables and wires, with little or no visual information, relying mostly on force sensing. In this work, we propose a reduced DLO model which enables such blind…
The evaluation of new methods for control and manipulation in minimally invasive robotic surgery requires a realistic setup. To decouple the evaluation of methods from overall clinical systems, we propose an instrument adapter for the S…
A continuous collision checking method for a cable-driven parallel robot with an embarked robotic arm is proposed in this paper. The method aims at validating paths by checking for collisions between any pair of robot bodies (mobile…
Fruit harvesting remains predominantly a labor-intensive process, motivating the development of research for robotic grippers. Conventional rigid or vacuum-driven grippers require complex mechanical design or high energy consumption.…
Remote robotic-assisted endovascular intervention offers a promising approach to reduce clinician radiation exposure and physical strain, while extending specialized vascular care to geographically distant regions. Despite advancements,…
This paper presents a numerically exact cable finite element model for static nonlinear analysis of cable structures. The model derives the exact expression of the tension field using the geometrically exact beam theory coupled with the…