Related papers: Model-Based Compensation of Moving Tissue for Stat…
Control strategies for robotic needle steering in soft tissues must account for complex interactions between the needle and the tissue to achieve accurate needle tip positioning. Recent findings show faster robotic command rate can improve…
Grasping objects whose physical properties are unknown is still a great challenge in robotics. Most solutions rely entirely on visual data to plan the best grasping strategy. However, to match human abilities and be able to reliably pick…
Vibration compensation is important for many domains. For the machine tool industry it translates to higher machining precision and longer component lifetime. Current methods for vibration damping have their shortcomings (e.g. need for…
An osteoporosis-related fracture occurs every three seconds worldwide, affecting one in three women and one in five men aged over 50. The early detection of at-risk patients facilitates effective and well-evidenced preventative…
Accurate event detection is key to the successful design of semi-passive and powered prosthetics. Kinematically, the natural knee is complex, with translation and rotation components that have a substantial impact on gait characteristics.…
Three-dimensional (3D) ultrasound imaging technique has been applied for scoliosis assessment, but current assessment method only uses coronal projection image and cannot illustrate the 3D deformity and vertebra rotation. The vertebra…
Compensating for slip and skid is crucial for mobile robots navigating outdoor terrains. In these challenging environments, slipping and skidding introduce uncertainties into trajectory tracking systems, potentially compromising the safety…
The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during motions between the prespecified test postures. It employs a low-cost measuring system…
The presence of a vertebral compression fracture is highly indicative of osteoporosis and represents the single most robust predictor for development of a second osteoporotic fracture in the spine or elsewhere. Less than one third of…
Tendon-sheath mechanisms (TSMs) are widely used in minimally invasive surgical (MIS) applications, but their inherent hysteresis-caused by friction, backlash, and tendon elongation-leads to significant tracking errors. Conventional modeling…
Operating complex real-world systems, such as soft robots, can benefit from precise predictive control schemes that require accurate state and model knowledge. This knowledge is typically not available in practical settings and must be…
In response to the increasing demand for cardiocerebrovascular interventional surgeries, precise control of interventional robots has become increasingly important. Within these complex vascular scenarios, the accurate and reliable…
To date, the simulation of organ deformations for applications like therapy planning or image-guided interventions is calculated by solving the elastodynamics equations. While efficient solvers have been proposed for fast simulations,…
Many people suffer from the loss of a limb. Learning to get by without an arm or hand can be very challenging, and existing prostheses do not yet fulfil the needs of individuals with amputations. One promising solution is to provide greater…
Prosthesis users can regain partial limb functionality, however, full natural limb mobility is rarely restored, often resulting in compensatory movements that lead to discomfort, inefficiency, and long-term physical strain. To address this…
This paper proposes a novel contact and wearable sensing system for estimating the upper body posture and joint angles (ankle, knee, and hip) of the human body using foot pressure distribution information obtained from a sensor attached to…
Robotic assistance for experimental manipulation in the life sciences is expected to enable favorable outcomes, regardless of the skill of the scientist. Experimental specimens in the life sciences are subject to individual variability and…
This paper presents a generic motion model to capture mobile robots' dynamic behaviors (translation and rotation). The model is based on statistical models driven by white random processes and is formulated into a full state estimation…
, Ischial pressure ulcer is an important risk for every paraplegic person and a major public health issue. Pressure ulcers appear following excessive compression of buttock's soft tissues by bony structures, and particularly in ischial and…
Laparoscopic surgery constrains instrument motion around a fixed pivot point at the incision into a patient to minimize tissue trauma. Surgical robots achieve this through either hardware to software-based remote center of motion (RCM)…