相关论文: Comprehending finger flexor tendon pulley system u…
This project concerns developing and validating an image guidance framework for application to a robotic-assisted fibular reduction in ankle fracture surgery. The aim is to produce and demonstrate proper functioning of software for…
Compliant grippers enable robots to work with humans in unstructured environments. In general, these grippers can improve with tactile sensing to estimate the state of objects around them to precisely manipulate objects. However,…
There is an unmet need for artificial intelligence techniques that can speed up the design of growth strategies for cultured tissues. Cultured tissue is increasingly important for a range of applications such as cultivated meat,…
We consider an immersed elastic body that is actively driven through a structured fluid by a motor or an external force. The behavior of such a system generally cannot be solved analytically, necessitating the use of numerical methods.…
Percutaneous needle insertions are commonly performed for diagnostic and therapeutic purposes as an effective alternative to more invasive surgical procedures. However, the outcome of needle-based approaches relies heavily on the accuracy…
Collagen fibrils are the most important structural component of tendons. Their crimped structure and parallel arrangement within the tendon lead to a distinctive non-linear stress-strain curve when a tendon is stretched. Microstructural…
Robots which make use of soft or compliant inter- actions often leverage tendon-driven actuation which enables actuators to be placed more flexibly, and compliance to be maintained. However, controlling complex tendon systems is…
A number of recent studies have focused on developing surgical simulation platforms to train machine learning (ML) agents or models with synthetic data for surgical assistance. While existing platforms excel at tasks such as rigid body…
Objective: Traumatic brain injuries and damage are major causes of death and disability. We propose a 3D fully coupled electro-mechanical model of a nerve bundle to investigate the electrophysiological impairments due to trauma at the…
A new approach for generating stress-constrained topological designs in continua is presented. The main novelty is in the use of elasto-plastic modeling and in optimizing the design such that it will exhibit a linear-elastic response. This…
The use of flexures to achieve fibre positioner motion is being actively investigated by several institutes, for example at the UK Astronomy Technology Centre (UKATC) and Leibniz-Institute for Astrophysics Potsdam. One challenge when…
The field of physical human-robot interaction has dramatically evolved in the last decades. As a result, the robotic system's requirements have become more challenging, including personalized behavior for different tasks and users. Various…
The technique presented here identifies tethered mould designs, optimised for growing cultured tissue with very highly-aligned cells. It is based on a microscopic biophysical model for polarised cellular hydrogels. There is an unmet need…
Evaluating the pinch capability of a robotic hand is important for understanding its functional dexterity. However, many existing grasp evaluation methods rely on object geometry or contact force models, which limits their applicability…
Contemporary approaches to solving various problems that require analyzing three-dimensional (3D) meshes and point clouds have adopted the use of deep learning algorithms that directly process 3D data such as point coordinates, normal…
The animation community has spent significant effort trying to ease rigging procedures. This is necessitated because the increasing availability of 3D data makes manual rigging infeasible. However, object animations involve understanding…
This paper introduces a new nonlinear topology optimization framework which employs porohyperelasticity for providing computational design of pneumatic soft actuators. Density-based topology optimization is used with the objective of…
In automated manufacturing, robots must reliably assemble parts of various geometries and low tolerances. Ideally, they plan the required motions autonomously. This poses a substantial challenge due to high-dimensional state spaces and…
The common exact diagonalization-based techniques to solving tight-binding models suffer from O(N^2) and O(N^3) scaling with respect to model size in memory and CPU time, hindering their applications in large tight-binding models. On the…
Reconfigurable robots that can change their physical configuration post-fabrication have demonstrate their potential in adapting to different environments or tasks. However, it is challenging to determine how to optimally adjust…