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We propose a method to electrically control electron spins in donor-based qubits in silicon. By taking advantage of the hyperfine coupling difference between a single-donor and a two-donor quantum dot, spin rotation can be driven by…
Nonreciprocal signal operation is highly desired for various acoustic applications, where protection from unwanted backscattering can be realized so that transmitting and receiving signals are processed in a full-duplex mode. Here we…
In this paper, we propose a dynamic model and control framework for tendon-driven continuum robots (TDCRs) with multiple segments and an arbitrary number of tendons per segment. Our approach leverages the Clarke transform, the…
This paper introduces a learning-based modeling framework for a magnetically steerable soft suction device designed for endoscopic endonasal brain tumor resection. The device is miniaturized (4 mm outer diameter, 2 mm inner diameter, 40 mm…
Soft robots are known for their ability to perform tasks with great adaptability, enabled by their distributed, non-uniform stiffness and actuation. Bending is the most fundamental motion for soft robot design, but creating robust, and…
Hand-wearable robots, specifically exoskeletons, are designed to aid hands in daily activities, playing a crucial role in post-stroke rehabilitation and assisting the elderly. Our contribution to this field is a textile robotic glove with…
In this research was implemented the use of an Arduino UNO R3 microcontroller to control the movements of a prototype robotic functional developed to perform rehabilitation exercises in the wrist joint; This device can be used to assist the…
Objective: In this work we address limitations in state-of-the-art ultrasound robots by designing and integrating a novel soft robotic system for ultrasound imaging. It employs the inherent qualities of soft fluidic actuators to establish…
In endovascular surgery, endovascular interventionists push a thin tube called a catheter, guided by a thin wire to a treatment site inside the patient's blood vessels to treat various conditions such as blood clots, aneurysms, and…
This paper presents an off-axis, monolithic compliant Remote Center of Motion (RCM) joint for neuroendoscopic manipulation, combining near-isotropic stiffness with minimal parasitic motion. Based on the Tetra II concept, the end-effector is…
Intraocular foreign body removal demands millimeter-level precision in confined intraocular spaces, yet existing robotic systems predominantly rely on manual teleoperation with steep learning curves. To address the challenges of autonomous…
Endovascular guidewire manipulation is essential for minimally-invasive clinical applications (Percutaneous Coronary Intervention (PCI), Mechanical thrombectomy techniques for acute ischemic stroke (AIS), or Transjugular intrahepatic…
Electromagnetic crimping is a high-velocity joining method to join highly conductive workpieces where a pulsed magnetic field is applied without any working medium or mechanical contact to deform the workpiece. This work explores…
Robotic-assisted surgery offers significant clinical advantages but largely eliminates direct haptic feedback, increasing the risk of excessive tool-tissue interaction forces. Although recent commercial systems have begun to introduce force…
We present a scheme for tuning and controlling nano mechanical resonators by subjecting them to electrostatic gradient fields, provided by nearby tip electrodes. We show that this approach enables access to a novel regime of optomechanics,…
Autonomous navigation is crucial for both medical and industrial endoscopic robots, enabling safe and efficient exploration of narrow tubular environments without continuous human intervention, where avoiding contact with the inner walls…
In this study, a new position control scheme for the tendon-sheath mechanism (TSM) which is used in flexible medical devices is presented. TSM is widely used in dexterous robotic applications because it can flexibly work in limited space,…
In this paper we document a novel laboratory experimental platform for non-contact planar manipulation (positioning) of millimeter-scale objects using acoustic pressure. The manipulated objects are either floating on a water surface or…
In the last decade, researchers and medical device companies have made major advances towards transforming passive capsule endoscopes into active medical robots. One of the major challenges is to endow capsule robots with accurate…
This paper introduces a prototype for a new approach to assistive robotics, integrating edge computing with Natural Language Processing (NLP) and computer vision to enhance the interaction between humans and robotic systems. Our proof of…