Related papers: Kinematic and Ergonomic Design of a Robotic Arm fo…
We present an analytical solution for the inverse kinematics (IK) of a robotic arm with one prismatic joint and four revolute joints. This 5-DoF design is a result of minimizing weight while preserving functionality of the device in a…
The integration of high-level assistance algorithms in surgical robotics training curricula may be beneficial in establishing a more comprehensive and robust skillset for aspiring surgeons, improving their clinical performance as a…
Multisection continuum arms offer complementary characteristics to those of traditional rigid-bodied robots. Inspired by biological appendages, such as elephant trunks and octopus arms, these robots trade rigidity for compliance, accuracy…
In the face of challenges encountered during femur fracture surgery, such as the high rates of malalignment and X-ray exposure to operating personnel, robot-assisted surgery has emerged as an alternative to conventional state-of-the-art…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
Robotic surgery and novel surgical instrumentation present great potentials towards safer, more accurate and consistent minimally invasive surgery. However, their adoption is dependent to the access to training facilities and extensive…
Designing robot morphologies and kinematics has traditionally relied on human intuition, with little systematic foundation. Motion-design co-optimization offers a promising path toward automation, but two major challenges remain: (i) the…
Laparoscopic Field of View (FOV) control is one of the most fundamental and important components in Minimally Invasive Surgery (MIS), nevertheless, the traditional manual holding paradigm may easily bring fatigue to surgical assistants, 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…
The human-machine interface is of critical importance for master-slave control of the robotic system for surgery, in which current systems offer the control or two robotic arms teleoperated by the surgeon's hands. To relax the need for…
Robotic surgery for minimally invasive surgery can reduce the surgeon's workload by autonomously guiding robotic forceps. Movement of the robot is restricted around a fixed insertion port. The robot often encounters angle limitations during…
Master control console is a place where robots collaborate with humans in a shared environment. To this end, ergonomics is an important aspect to be considered. With ergonomic design, the surgeons can feel more comfortable to conduct the…
Recently, industrial robots plays a significant role in intelligent manufacturing. Hence, it is an urgent issue to ensure the robot with the high positioning precision. To address this hot issue, a novel calibration method based on an…
The purpose of this paper is to present the construction and programming of a five degrees of freedom robotic arm which interacts with an infrared sensor for the identification and sorting of different sized objects. The main axis of the…
As robots increasingly become part of shared human spaces, their movements must transcend basic functionality by incorporating expressive qualities to enhance engagement and communication. This paper introduces a movement-centered design…
Continuum robots with floating bases demonstrate exceptional operational capabilities in confined spaces, such as those encountered in medical surgeries and equipment maintenance. However, developing low-cost solutions for their motion and…
Robotic-assisted orthopaedic surgeries demand accurate, automated leg manipulation for improved spatial accuracy to reduce iatrogenic damage. In this study, we propose novel rigid body designs and an optical tracking volume setup for…
Agile maneuvers are essential for robot-enabled complex tasks such as surgical procedures. Prior explorations on surgery autonomy are limited to feasibility study of completing a single task without systematically addressing generic…
Mechanical compliance is a key design parameter for dynamic contact-rich manipulation, affecting task success and safety robustness over contact geometry variation. Design of soft robotic structures, such as compliant fingers, requires…
Assistive robotic devices can be used to help people with upper body disabilities gaining more autonomy in their daily life. Although basic motions such as positioning and orienting an assistive robot gripper in space allow performance of…