相关论文: SSTL: Self-Sensing Tendon Loop for Hysteresis Mode…

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,…

Tendon-sheath-driven manipulators (TSM) are widely used in minimally invasive surgical systems due to their long, thin shape, flexibility, and compliance making them easily steerable in narrow or tortuous environments. Many commercial…

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…

Flexible joint robots, in particularly those which are equipped with harmonic-drive gears, can feature elasticities with hysteresis. Under heavy loads and large joint torques the hysteresis lost motion can lead to significant errors of…

We investigate the task and motion planning problem for Signal Temporal Logic (STL) specifications in robotics. Existing STL methods rely on pre-defined maps or mobility representations, which are ineffective in unstructured real-world…

Spinal cord stimulation (SCS) electrodes are traditionally placed in the dorsal epidural space to stimulate the dorsal column fibers for pain therapy. Recently, SCS has gained attention in restoring gait. However, the motor fibers…

Flexible continuum manipulators are valued for minimally invasive surgery, offering access to confined spaces through nonlinear paths. However, cable-driven manipulators face control difficulties due to hysteresis from cabling effects such…

For the LISA mission, Tilt-To-Length (TTL) coupling is expected to be one of the dominant instrumental noise contributions after laser frequency noise is suppressed based, on assumptions on the size of the coupling and angular jitter…

Physical human-robot interaction has been an area of interest for decades. Collaborative tasks, such as joint compliance, demand high-quality joint torque sensing. While external torque sensors are reliable, they come with the drawbacks of…

Representation learning of the task-oriented attention while tracking instrument holds vast potential in image-guided robotic surgery. Incorporating cognitive ability to automate the camera control enables the surgeon to concentrate more on…

We study feedback motion planning for continuous-time stochastic nonlinear systems under signal temporal logic (STL) specifications. We propose a framework that synthesizes control policies for chance-constrained STL trajectory optimization…

We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose…

Hyper-redundant tendon-driven manipulators offer greater flexibility and compliance over traditional manipulators. A common way of controlling such manipulators relies on adjusting tendon lengths, which is an accessible control parameter.…

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…

This study proposes a novel planning framework based on a model predictive control formulation that incorporates signal temporal logic (STL) specifications for task completion guarantees and robustness quantification. This marks the…

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…

Wearable robotics have the capacity to assist stroke survivors in assisting and rehabilitating hand function. Many devices that use surface electromyographic (sEMG) for control rely on extrinsic muscle signals, since sEMG sensors are…

Cardiopulmonary resuscitation (CPR) is a critical life-saving procedure, and effective training benefits from self-directed practice beyond instructor-led sessions. In this paper, we propose a closed-loop CPR training glove that integrates…

This paper presents an analysis of parametric characterization of a motor driven tendon-sheath actuator system for use in upper limb augmentation for applications such as rehabilitation, therapy, and industrial automation. The double tendon…

Self driving laboratories (SDLs) are highly automated research environments that leverage advanced technologies to conduct experiments and analyze data with minimal human involvement. These environments often involve delicate laboratory…