Related papers: Robotically adjustable kinematics in a wrist-drive…
Robotic assistance in minimally invasive surgery can greatly enhance surgical precision and reduce surgeon fatigue. This paper presents a focused investigation on the kinematic and ergonomic design principles for a laparoscopic surgical…
Development of dexterous manipulation hardware has primarily focused on hands and grippers. However, these end-effectors are often paired with bulky and highly stiff wrists that limit performance in human environments. More designs have…
This article explores assistive devices for upper limb movement in people with disabilities through a systematic review based on the PRISMA methodology. The studied devices encompass technologies ranging from orthoses to advanced robotics,…
Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot…
Impairment of hand functions in individuals with spinal cord injury (SCI) severely disrupts activities of daily living. Recent advances have enabled rehabilitation assisted by robotic devices to augment the residual function of the muscles.…
This article presents a new hand architecture with three under-actuated fingers. Each finger performs spatial movements to achieve more complex and varied grasping than the existing planar-movement fingers. The purpose of this hand is to…
Microsurgery is a particularly impactful yet challenging form of surgery. Robot assisted microsurgery has the potential to improve surgical dexterity and enable precise operation on such small scales in ways not previously possible.…
Physical therapy (PT) is a key component of many rehabilitation regimens, such as treatments for Parkinson's disease (PD). However, there are shortages of physical therapists and adherence to self-guided PT is low. Robots have the potential…
Wearable orthoses can function both as assistive devices, which allow the user to live independently, and as rehabilitation devices, which allow the user to regain use of an impaired limb. To be fully wearable, such devices must have…
Wearable assistive robots (WR) for the lower extremity are extensively documented in literature. Various interfaces have been designed to control these devices during gait and balance activities. However, achieving seamless and intuitive…
Wearable robotic hand rehabilitation devices can allow greater freedom and flexibility than their workstation-like counterparts. However, the field is generally lacking effective methods by which the user can operate the device: such…
Autonomous grasping remains challenging as unlike humans, robots do not possess a sophisticated sensing nor delicate interaction capability with the real environment. Among other efforts that tried to close the gap between them,…
Shared control in assistive robotics blends human autonomy with computer assistance, thus simplifying complex tasks for individuals with physical impairments. This study assesses an adaptive Degrees of Freedom control method specifically…
We propose a novel tri-fingered soft robotic gripper with decoupled stiffness and shape control capability for performing adaptive grasping with minimum system complexity. The proposed soft fingers adaptively conform to object shapes…
Physically assistive robots in home environments can enhance the autonomy of individuals with impairments, allowing them to regain the ability to conduct self-care and household tasks. Individuals with physical limitations may find existing…
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…
Wheelchairs and mobility devices have transformed our bodies into cybernic systems, enhancing our well-being by enabling individuals with reduced mobility to regain freedom. Notwithstanding, current interfaces of control primarily rely on…
The wrist plays a pivotal role in facilitating motion dexterity and hand functions. Wrist orthoses, from passive braces to active exoskeletons, provide an effective solution for the assistance and rehabilitation of motor abilities. However,…
Robot-assisted dressing has the potential to significantly improve the lives of individuals with mobility impairments. To ensure an effective and comfortable dressing experience, the robot must be able to handle challenging deformable…
For robot arms to perform everyday tasks in unstructured environments, these robots must be able to manipulate a diverse range of objects. Today's robots often grasp objects with either soft grippers or rigid end-effectors. However, purely…