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Exoskeleton robots have become a promising tool in neurorehabilitation, offering effective physical therapy and recovery monitoring. The success of these therapies relies on precise motion control systems. Although computed torque control…
Since the dawn of scanning probe microscopy (SPM), tapping or intermittent contact mode has been one of the most widely used imaging modes. Manual optimization of tapping mode not only takes a lot of instrument and operator time, but also…
Advancements in neurosurgical robotics have improved medical procedures, particularly deep brain stimulation, where robots combine human and machine intelligence to precisely implant electrodes in the brain. While effective, this procedure…
We present a novel method for optimizing the posture of kinematically redundant torque-controlled robots to improve robustness during impacts. A rigid impact model is used as the basis for a configuration-dependent metric that quantifies…
Tendon-driven robots, where one or more tendons under tension bend and manipulate a flexible backbone, can improve minimally invasive surgeries involving difficult-to-reach regions in the human body. Planning motions safely within…
Modeling and control of the human musculoskeletal system is important for understanding human motor functions, developing embodied intelligence, and optimizing human-robot interaction systems. However, current human musculoskeletal models…
Accurate and autonomous transportation of micro-objects and biological cells can enable significant advances in a wide variety of research disciplines. Here, we present a novel, vision-based, model-free microrobotic pushing algorithm for…
Local administration of thrombolytics in ischemic stroke could accelerate clot lysis and the ensuing reperfusion while minimizing the side effects of systemic administration. Medical microrobots could be injected into the bloodstream and…
Neurostimulation technologies have seen a recent surge in interest from the neuroscience and controls communities alike due to their proven potential to treat conditions such as Parkinson's Disease, and depression. The provided stimulation…
Robotic assistance allows surgeries to be reliably and accurately executed while still under direct supervision of the surgeon, combining the strengths of robotic technology with the surgeon's expertise. This paper describes a robotic…
A biopsy is the only diagnostic procedure for accurate histological confirmation of breast cancer. When sonographic placement is not feasible, a Magnetic Resonance Imaging(MRI)-guided biopsy is often preferred. The lack of real-time imaging…
Current magnetic resonance imaging (MRI) requires the subject to remain stationary to limit motion artifacts and avoid unwanted field-induced brain stimulation. However, imaging during large-scale motion could enable studies in which motion…
Neurorehabilitation conventionally relies on the interaction between a patient and a physical therapist. Robotic systems can improve and enrich the physical feedback provided to patients after neurological injury, but they under-utilize the…
Tendon-sheath-driven manipulators (TSM) are widely used in minimally invasive surgical systems due to their long, thin shape, flexibility, and compliance making them easily steerable in narrow or tortuous environments. Many commercial…
This paper explores the possibility of improving bilateral robot manipulation task performance through optimizing the robot morphology and configuration of the system through motion. To optimize the design for different scenarios, we select…
Background: Trans-spinal FUS (tsFUS) has recently been shown promise in modulating spinal reflexes in rodents, opening new avenues for spinal cord interventions in motor control and pain management. However, anatomical differences between…
Magnetic microrobots can be navigated by an external magnetic field to autonomously move within living organisms with complex and unstructured environments. Potential applications include drug delivery, diagnostics, and therapeutic…
Spinal cord stimulation (SCS) electrodes are traditionally placed in the dorsal epidural space to stimulate the dorsal column fibers for pain therapy. Recently, SCS has gained attention in restoring gait. However, the motor fibers…
Magnetic stimulation is a standard tool in brain research and many fields of neurology, as well as psychiatry. From a physical perspective, one key aspect of this method is the inefficiency of available setups. Whereas the spatial field…
Motor Imagery (MI) is gaining traction in both rehabilitation and sports settings, but its immediate influence on human postural control is not yet clearly understood. The focus of this study is to examine the effects of MI on the dynamics…