Related papers: Helical Tendon-Driven Continuum Robot with Program…
Rehabilitation robotics continues to confront substantial challenges, particularly in achieving smooth, safe, and intuitive human-robot interactions for upper limb motor training. Many current systems depend on complex mechanical designs,…
A significant challenge for the control of a robotic lower extremity rehabilitation exoskeleton is to ensure stability and robustness during programmed tasks or motions, which is crucial for the safety of the mobility-impaired user. Due to…
Squatting is one of the most demanding lower-limb movements, requiring substantial muscular effort and coordination. Reducing the physical demands of this task through intelligent and personalized assistance has significant implications,…
Background: Lower limb exoskeletons can enhance quality of life, but widespread adoption is limited by the lack of frameworks to assess their biomechanical and human-robot interaction effects, which are essential for developing adaptive and…
Robust local navigation in unstructured and dynamic environments remains a significant challenge for humanoid robots, requiring a delicate balance between long-range navigation targets and immediate motion stability. In this paper, we…
We present a personal mobility device for lower-body impaired users through a light-weighted exoskeleton on wheels. On its core, a novel passive exoskeleton provides postural transition leveraging natural body postures with support to the…
This study presents the design and the kinematic optimization of a novel, underactuated, linkage-based robotic hand exoskeleton to assist users in performing grasping tasks. The device has been designed to apply only normal forces to the…
Manual endoscopic submucosal dissection (ESD) is technically demanding, and existing single-segment robotic tools offer limited dexterity. These limitations motivate the development of more advanced solutions. To address this, DESectBot, a…
The ability to accurately model mechanical hysteretic behavior in tendon-actuated continuum robots using deep learning approaches is a growing area of interest. In this paper, we investigate the hysteretic response of two types of…
Movement disorders impact muscle strength and mobility, and despite therapeutic efforts, many people with movement disorders have challenges functioning independently. Soft wearable robots, or exosuits, offer a promising solution for…
Wearable exosuits assist human movement in tasks ranging from rehabilitation to daily activities; specifically, head-neck support is necessary for patients with certain neurological disorders. Rigid-link exoskeletons have shown to enable…
Endoscopic endonasal approaches (EEA) have become more prevalent for minimally invasive skull base and sinus surgeries. However, rigid scopes and tools significantly decrease the surgeon's ability to operate in tight anatomical spaces and…
Hand exoskeletons are critical tools for dexterous teleoperation and immersive manipulation interfaces, but achieving accurate hand tracking remains a challenge due to user-specific anatomical variability and donning inconsistencies. These…
Towards reducing the failure rate of spinal fixation surgical procedures in osteoporotic patients, we propose a unique biomechanically-aware framework for the design of a novel concentric tube steerable drilling robot (CT-SDR). The proposed…
This study proposes a novel planning framework based on a model predictive control formulation that incorporates signal temporal logic (STL) specifications for task completion guarantees and robustness quantification. This marks the…
The upper limb robotic exoskeleton is an electromechanical device which use to recover a patients motor dysfunction in the rehabilitation field. It can provide repetitive, comprehensive, focused, positive, and precise training to regain the…
Navigation inside luminal organs is an arduous task that requires non-intuitive coordination between the movement of the operator's hand and the information obtained from the endoscopic video. The development of tools to automate certain…
Tendon-driven robotic catheters are capable of precise execution of minimally invasive cardiac procedures including ablations and imaging. These procedures require accurate mathematical models of not only the catheter and tendons but also…
This paper presents design principles for comfort-centered wearable robots and their application in a lightweight and backdrivable knee exoskeleton. The mitigation of discomfort is treated as mechanical design and control issues and three…
Soft robots are robotic systems made of deformable materials and exhibit unique flexibility that can be exploited for complex environments and tasks. However, their control problem has been considered a challenging subject because they are…