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Tendon-driven continuum robots have been gaining popularity in medical applications due to their ability to curve around complex anatomical structures, potentially reducing the invasiveness of surgery. However, accurate modeling is required…

Tracking the full skeletal pose of the hands and fingers is a challenging problem that has a plethora of applications for user interaction. Existing techniques either require wearable hardware, add restrictions to user pose, or require…

Objective: Deep learning-based neural decoders have emerged as the prominent approach to enable dexterous and intuitive control of neuroprosthetic hands. Yet few studies have materialized the use of deep learning in clinical settings due to…

The robust truss topology optimization against the uncertain static external load can be formulated as mixed-integer semidefinite programming. Although a global optimal solution can be computed with a branch-and-bound method, it is very…

Lower limb exoskeleton robots hold great potential for rehabilitation, movement assistance, and strength augmentation. Design control to guarantee optimal needed assistance is still a challenge considering the pathological variances between…

Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…

Tendon-driven continuum robot kinematic models are frequently computationally expensive, inaccurate due to unmodeled effects, or both. In particular, unmodeled effects produce uncertainties that arise during the robot's operation that lead…

Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are no good dynamic simulation tools to predict the motion or performance of a microrobot as it moves against a substrate. At…

Tactile sensors are breaking into the field of robotics to provide direct information related to contact surfaces, including contact events, slip events and even texture identification. These events are especially important for robotic hand…

Accurate prediction of the force required to puncture a soft material is critical in many fields like medical technology, food processing, and manufacturing. However, such a prediction strongly depends on our understanding of the complex…

Robotic exoskeletons can enhance human strength and aid people with physical disabilities. However, designing them to ensure safety and optimal performance presents significant challenges. Developing exoskeletons should incorporate specific…

In the present work, irregular complex joints of the human arm are modelled in the computer-aided design environment. Accurately the geometric models of the joints and surrounding bony regions are developed from computed tomography data set…

Tendon-driven anthropomorphic robotic hands often lack direct joint angle sensing, as the integration of joint encoders can compromise mechanical compactness and dexterity. This paper presents a computational method for estimating joint…

Design of robotic systems that safely and efficiently operate in uncertain operational conditions, such as rehabilitation and physical assistance robots, remains an important challenge in the field. Current methods for the design of energy…

Soft slender structures are ubiquitous in natural and artificial systems and can be observed at scales that range from the nanometric to the kilometric, from polymers to space tethers. We present a practical numerical approach to simulate…

Portrait Stylization aims to imbue portrait photos with vivid artistic effects drawn from style examples. Despite the availability of enormous training datasets and large network weights, existing methods struggle to maintain geometric…

Determining a globally optimal solution of belief space planning (BSP) in high-dimensional state spaces is computationally expensive, as it involves belief propagation and objective function evaluation for each candidate action. Our…

Microsurgery involves the dexterous manipulation of delicate tissue or fragile structures such as small blood vessels, nerves, etc., under a microscope. To address the limitation of imprecise manipulation of human hands, robotic systems…

We propose a real-time vision-based teleoperation approach for robotic arms that employs a single depth-based camera, exempting the user from the need for any wearable devices. By employing a natural user interface, this novel approach…

Nonlinearities and instabilities in mechanical structures have shown great promise for embedding advanced functionalities. However, simulating structures subject to nonlinearities can be challenging due to the complexity of their behavior,…