相关论文: Novel total hip surgery robotic system based on se…

Configurable robots are made up of robotic modules that can be assembled or can configure themselves into multiple robot configurations. In this research plan, a method for upper-body rehabilitation will be discussed in the form of a…

Objective: The clinical diagnosis of developmental dysplasia of the hip (DDH) typically involves manually measuring key radiological angles -- Center-Edge (CE), Tonnis, and Sharp angles -- from pelvic radiographs, a process that is…

This paper explores the design strategies for hybrid pole- or trunk-climbing robots, focusing on methods to inform design decisions and assess metrics such as adaptability and performance. A wheeled-grasping hybrid robot with modular,…

In many bi-manual robotic tasks, like peg-in-a-hole assembly, the success of the task execution depends on the error in achieving the desired relative pose between the peg and the hole in a pre-insertion configuration. Random actuation…

This study proposes a reinforcement learning-based adaptive running motion simulation for a unilateral transtibial amputee with the flexibility of a leaf-spring-type sports prosthesis using hybrid-link system. The design and selection of…

Robots can serve as safety catalysts on construction job sites by taking over hazardous and repetitive tasks while alleviating the risks associated with existing manual workflows. Research on the safety of physical human-robot interaction…

Human-robot collaboration in surgery represents a significant area of research, driven by the increasing capability of autonomous robotic systems to assist surgeons in complex procedures. This systematic review examines the advancements and…

The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during mo-tions between the prespecified test postures. It employs a low-cost measuring system…

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…

This paper presents a shape-aware whole-body control framework for tendon-driven continuum robots with direct application to endoluminal surgical navigation. Endoluminal procedures, such as bronchoscopy, demand precise and safe navigation…

This paper presents a kinematic definition of a serialized Stewart platform designed for autonomous in-space assembly called an Assembler. The Assemblers architecture describes problems inherent to the inverse kinematics of over-actuated…

This paper presents a novel rehabilitation robot designed to address the challenges of Passive Range of Motion (PROM) exercises for frozen shoulder patients by integrating advanced scapulohumeral rhythm stabilization. Frozen shoulder is…

In robot-assisted minimally invasive surgery (RAMIS), optimal placement of the surgical robot base is crucial for successful surgery. Improper placement can hinder performance because of manipulator limitations and inaccessible workspaces.…

Surgical navigation provides real-time guidance by estimating the pose of patient anatomy and surgical instruments to visualize relevant intraoperative information. In conventional systems, instruments are typically tracked using fiducial…

Robust and accurate localization in challenging environments is becoming crucial for SLAM. In this paper, we propose a unique sensor configuration for precise and robust odometry by integrating chip radar and a legged robot. Specifically,…

Teleoperation platforms often require the user to be situated at a fixed location to both visualize and control the movement of the robot and thus do not provide the operator with much mobility. One example is in existing robotic surgery…

The purpose of this study is to investigate the femoral neck angulation for prediction of the complication associated with dynamic hip screw (DHS) surgery and hip deformity. Three sample patients' MRI images were selected to calculate the…

Physical movement therapy is a crucial method of rehabilitation aimed at reinstating mobility among patients facing motor dysfunction due to neurological conditions or accidents. Such therapy is usually featured as patient-specific,…

Research on autonomous surgery has largely focused on simple task automation in controlled environments. However, real-world surgical applications demand dexterous manipulation over extended durations and generalization to the inherent…

Automatically generating agile whole-body motions for legged and humanoid robots remains a fundamental challenge in robotics. While numerous trajectory optimization approaches have been proposed, there is no clear guideline on how the…