相关论文: Separable Tendon-Driven Robotic Manipulator with a…
Robotic manipulation of deformable linear objects (DLOs) is an active area of research, though emerging applications, like automotive wire harness installation, introduce constraints that have not been considered in prior work. Confined…
Clinicians require substantial training and experience to become comfortable with steering Intracardiac echocardiography (ICE) catheter to localize and measure the area of treatment to watch for complications while device catheters are…
Robotic manipulators, traditionally designed with classical joint-link articulated structures, excel in industrial applications but face challenges in human-centered and general-purpose tasks requiring greater dexterity and adaptability. To…
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…
Robot simulators are indispensable tools across many fields, and recent research has significantly improved their functionality by incorporating additional gradient information. However, existing differentiable robot simulators suffer from…
This paper introduces a new surgical end-effector probe, which allows to accurately apply a contact force on a tissue, while at the same time allowing for high resolution and highly repeatable probe movement. These are achieved by…
Microsurgery is a particularly impactful yet challenging form of surgery. Robot assisted microsurgery has the potential to improve surgical dexterity and enable precise operation on such small scales in ways not previously possible.…
Cable-Driven Continuum Manipulators (CDCMs) enable scar-free procedures but face limitations in workspace and control accuracy due to hysteresis. We introduce an extensible CDCM with a Semi-active Mechanism (SAM) and develop a real-time…
Tendon-sheath mechanisms (TSMs) are widely used in minimally invasive surgical (MIS) applications, but their inherent hysteresis-caused by friction, backlash, and tendon elongation-leads to significant tracking errors. Conventional modeling…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
Most of the quadrupeds developed are highly actuated, and their control is hence quite cumbersome. They need advanced electronics equipment to solve convoluted inverse kinematic equations continuously. In addition, they demand special and…
Personalized treatments are gaining momentum across all fields of medicine. Precision medicine can be applied to neuromodulatory techniques, where focused brain stimulation treatments such as repetitive transcranial magnetic stimulation…
Long-term non-prehensile planar manipulation is a challenging task for robot planning and feedback control. It is characterized by underactuation, hybrid control, and contact uncertainty. One main difficulty is to determine both the…
Robotic assistance has significantly improved the outcomes of open microsurgery and rigid endoscopic surgery, however is yet to make an impact in flexible endoscopic neurosurgery. Some of the most common intracranial procedures for…
There is a surge of research interest in the field of tensegrity robotics. Robots developed under this paradigm provide many advantages and have distinguishing features in terms of structural compliance, dexterity, safety, and weight…
Exoskeleton robots have become a promising tool in neurorehabilitation, offering effective physical therapy and recovery monitoring. The success of these therapies relies on precise motion control systems. Although computed torque control…
Assistive robotic manipulators are becoming increasingly important for people with disabilities. Teleoperating the manipulator in mundane tasks is part of their daily lives. Instead of steering the robot through all actions, applying…
Continuum parallel robots (CPR) combine rigid actuation mechanisms with multiple elastic rods in a closed-loop topology, making forward statics challenging when rigid--continuum junctions are enforced by explicit kinematic constraints. Such…
This paper presents a robust control scheme for flexible link robotic manipulators, which is based on considering the flexible mechanical structure as a system with slow (rigid) and fast (flexible) modes that can be controlled separately.…
Accurate kinematic models are essential for effective control of surgical robots. For tendon driven robots, which is common for minimally invasive surgery, intrinsic nonlinearities are important to consider. Traditional analytical methods…