Related papers: Adaptable, shape-conforming robotic endoscope
Flow-induced failure of granular materials is relevant to a broad range of geomechanical applications. Plasticity, which is the inherent failure mechanism of most granular materials, enables large deformations that can invalidate linearised…
Vine robots are a class of soft continuum robots that grow via tip eversion, allowing them to move their tip without relying on reaction forces from the environment. Constructed from compliant materials such as fabric and thin, flexible…
To enlarge the translational workspace of cable-driven robots, one common approach is to increase the number of cables. However, this introduces two challenges: (1) cable interference significantly reduces the rotational workspace, and (2)…
This paper introduces a novel robotic system designed to manage severe bleeding in emergency scenarios, including unique environments like space stations. The robot features a shape-adjustable "ring mechanism", transitioning from a circular…
Attempts to use Electrohydrodynamic (EHD) flow for propulsion have been made since the last century [1]. Limited success has been registered particularly due to the inhomogeneous generation of the thrust, and also the very light weight and…
Mechanically characterizing the human-machine interface is essential to understanding user behavior and optimizing wearable robot performance. This interface has been challenging to sensorize due to manufacturing complexity and non-linear…
In this work, we attempt to optimize the design of an electromagnetic induction device that captures the energy from the arterial wall pulsation for the purpose of powering implantable medical devices. The artery comes through a flexible…
Soft, growing inflated beam robots, also known as everting vine robots, have previously been shown to navigate confined spaces with ease. Less is known about their ability to navigate three-dimensional open spaces where they have the…
We present a microfluidic device that enables trapping, analysis, and on-demand release of individual microparticles through membrane deformation driven by pneumatic actuation. Inspired by Pachinko-style architectures, the system features…
Electrospinning has exhibited excellent benefits to treat the trauma for tissue engineering due to its produced micro/nano fibrous structure. It can effectively adhere to the tissue surface for long-term continuous therapy. This paper…
Adapting upper-limb impedance (i.e., stiffness, damping, inertia) is essential for humans interacting with dynamic environments for executing grasping or manipulation tasks. On the other hand, control methods designed for state-of-the-art…
This paper discusses the design of a novel compliant in-pipe climbing modular robot for small diameter pipes. The robot consists of a kinematic chain of 3 OmniCrawler modules with a link connected in between 2 adjacent modules via compliant…
Soft robotic instruments could navigate delicate, tortuous anatomy more safely than rigid tools, but clinical adoption is limited by insufficient tip functionalization and real-time feedback at the tissue interface. Few sensing and…
The paper focuses on the calibration of elastostatic parameters of spatial anthropomorphic robots. It proposes a new strategy for optimal selection of the measurement configurations that essentially increases the efficiency of robot…
Entropic lattice Boltzmann methods have been developed to alleviate intrinsic stability issues of lattice Boltzmann models for under-resolved simulations. Its reliability in combination with moving objects was established for various…
Navigating a flexible robotic endoscope (FRE) through the gastrointestinal tract is critical for surgical diagnosis and treatment. However, navigation in the dynamic stomach is particularly challenging because the FRE must learn to…
Conventional endoscopes comprise a bundle of optical fibers, associating one fiber for each pixel in the image. In principle, this can be reduced to a single multimode optical fiber (MMF), the width of a human hair, with one fiber…
Ultrasound is a key technology in healthcare, and it is being explored for non-invasive, wearable, continuous monitoring of vital signs. However, its widespread adoption in this scenario is still hindered by the size, complexity, and power…
Despite the widespread adoption of endoscopic devices for several cancer screening procedures, manual control of these devices still remains challenging for clinicians, leading to several critical issues such as increased workload, fatigue,…
Robot arms with lighter weight can reduce unnecessary energy consumption which is desirable in robotic industry. However, lightweight arms undergo undesirable elastic deformation. In this paper, the planar motion of a lightweight flexible…