相关论文: Separable Tendon-Driven Robotic Manipulator with a…
Differentiable simulators promise to improve sample efficiency in robot learning by providing analytic gradients of the system dynamics. Yet, their application to contact-rich tasks like locomotion is complicated by the inherently…
Transcatheter valve repair presents significant challenges due to the mechanical limitations and steep learning curve associated with manual catheter systems. This paper investigates the use of robotics to facilitate transcatheter…
This paper presents a new task-space Non-singular Terminal Super-Twisting Sliding Mode (NT-STSM) controller with adaptive gains for robust trajectory tracking of a 7-DOF robotic manipulator. The proposed approach addresses the challenges of…
The task of controlling an underactuated robotic finger with a single tendon and a single actuator is difficult. Methods for controlling the class of underactuated systems are available in the literature. However, this particular system…
This article presents a motion planning and control framework for flexible robotic manipulators, integrating deep reinforcement learning (DRL) with a nonlinear partial differential equation (PDE) controller. Unlike conventional approaches…
Performing long-term experimentation or large-scale data collection for machine learning in the field of soft robotics is challenging, due to the hardware robustness and experimental flexibility required. In this work, we propose a modular…
Snapping beams enable rapid geometric transitions through nonlinear instability, offering an efficient means of generating motion in soft robotic systems. In this study, a tendon-driven mechanism consisting of spiral-based metabeams was…
Adapting upper-limb impedance (i.e., stiffness, damping, inertia) is essential for humans interacting with dynamic environments for executing grasping or manipulation tasks. On the other hand, control methods designed for state-of-the-art…
Soft robots are well suited for contact-rich tasks due to their compliance, yet this property makes accurate and tractable modeling challenging. Planning motions with dynamically-feasible trajectories requires models that capture arbitrary…
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…
Passive elastic elements can contribute to stability, energetic efficiency, and impact absorption in both biological and robotic systems. They also add dynamical complexity which makes them more challenging to model and control. The impact…
To diagnose, plan, and treat musculoskeletal pathologies, understanding and reproducing muscle recruitment for complex movements is essential. With muscle activations for movements often being highly redundant, nonlinear, and time…
Developing dynamic models for tendon-driven continuum robots is challenging due to their nonlinear, high-dimensional, and friction-dominated dynamics. This paper presents a comparative study of data-driven system identification methods,…
We consider large linear and nonlinear fixed point problems, and solution with proximal algorithms. We show that there is a close connection between two seemingly different types of methods from distinct fields: 1) Proximal iterations for…
Magnetic soft continuum robots (MSCRs) have emerged as a promising technology for minimally invasive interventions, offering enhanced dexterity and remote-controlled navigation in confined lumens. Unlike conventional guidewires with…
In commercial robotic systems, it is common to encounter a closed inner-loop torque controller that is not user-modifiable. However, the outer-loop controller, which sends kinematic commands such as position or velocity for the inner-loop…
This article explores assistive devices for upper limb movement in people with disabilities through a systematic review based on the PRISMA methodology. The studied devices encompass technologies ranging from orthoses to advanced robotics,…
This paper presents the development of a wearable ankle rehabilitation robot based on a 3-RRR spherical parallel mechanism (SPM) to support multi-DOF recovery through pitch, roll, and yaw motions. The system features a compact, ergonomic…
Remote robotic-assisted endovascular intervention offers a promising approach to reduce clinician radiation exposure and physical strain, while extending specialized vascular care to geographically distant regions. Despite advancements,…
-This article presents clinical results from the use of MONIMAD, a reactive robotized interface for lower limb Rehabilitation of patients suffering from cerebellar disease. The first problem to be addressed is the postural analysis of…