Related papers: Feasible Static Workspace Optimization of Tendon D…
Tendon-driven continuum robots offer intrinsically safe and contact-rich interactions owing to their kinematic redundancy and structural compliance. However, their perception often depends on external sensors, which increase hardware…
In this study, a new position control scheme for the tendon-sheath mechanism (TSM) which is used in flexible medical devices is presented. TSM is widely used in dexterous robotic applications because it can flexibly work in limited space,…
Back injuries are the most prevalent work-related musculoskeletal disorders and represent a major cause of disability. Although innovations in wearable robots aim to alleviate this hazard, the majority of existing exoskeletons are obtrusive…
This work tackles practical issues which arise when using a tendon-driven robotic manipulator (TDRM) with a long, flexible, passive proximal section in medical applications. Tendon-driven devices are preferred in medicine for their improved…
Tendon-driven under-actuated robotic fingers provide advantages for dexterous manipulation through reduced actuator requirements and simplified mechanical design. However, achieving both high load capacity and adaptive compliance in a…
The purpose of this research is to design, fabricate and test a tendon driven a continuum soft robot with three modular segments, each of which has a tunable stiffness enabled by layer jamming technology. Compared with previous studies, the…
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…
Continuum robots (CR) offer excellent dexterity and compliance in contrast to rigid-link robots, making them suitable for navigating through, and interacting with, confined environments. However, the study of path planning for CRs while…
Continuum robots enable dexterous manipulation in constrained environments, but require accurate and efficient models for real-time manipulation and control. Traditional physics-based models can be computationally expensive and may suffer…
Tendon-driven continuum robot kinematic models are frequently computationally expensive, inaccurate due to unmodeled effects, or both. In particular, unmodeled effects produce uncertainties that arise during the robot's operation that lead…
Spinal cord stimulation (SCS) is primarily utilized for pain management and has recently demonstrated efficacy in promoting functional recovery in patients with spinal cord injury. Effective stimulation of motor neurons ideally requires the…
Miniaturized instruments are highly needed for robot assisted medical healthcare and treatment, especially for less invasive surgery as it empowers more flexible access to restricted anatomic intervention. But the robotic design is more…
This paper presents a study on the backstepping control of tendon-driven continuum robots for large deflections using the Cosserat rod model. Continuum robots are known for their flexibility and adaptability, making them suitable for…
Vision-based control provides a significant potential for the end-point positioning of continuum robots under physical sensing limitations. Traditional visual servoing requires feature extraction and tracking followed by full or partial…
Isoperimetric robotic trusses can adapt to different tasks and environments because they have a high strength-to-weight ratio, can change their own shape dramatically, and can be reconfigured into a variety of different shapes. However,…
Untethered magnetic manipulation of biomedical millirobots has a high potential for minimally invasive surgical applications. However, it is still challenging to exert high actuation forces on the small robots over a large distance.…
Faced with complex and unstructured construction environments, wheeled and tracked robots exhibit significant limitations in terrain adaptability and flexibility, making it difficult to meet the requirements of autonomous operation.…
SLOT (Soft Legged Omnidirectional Tetrapod), a tendon-driven soft quadruped robot with 3D-printed TPU legs, is presented to study physics-informed modeling and control of compliant legged locomotion using only four actuators. Each leg is…
In this paper, we discuss a novel continuum robot design that enables the online tuning of the magnetic response at its tip. The proposed method allows for the change of both effective magnetic direction and intensity, introducing steering…
Balancing parallel robots throughout their workspace while avoiding the use of balancing masses and respecting design practicality constraints is difficult. Medical robots demand such compact and lightweight designs. This paper considers…