Modeling and Control of an MR-Safe Pneumatic Radial Inflow Motor and Encoder (PRIME) [0.03%]
一种MR安全型气动径向涡流电机和编码器(PRIME)的建模与控制研究
Anthony L Gunderman,Milad Azizkhani,Saikat Sengupta et al.
Anthony L Gunderman et al.
Magnetic resonance (MR) conditional actuators and encoders are the key components for MR-guided robotic systems. In this article, we present the modeling and control of our MR-safe pneumatic radial inflow motor and encoder. A comprehensive ...
Corrections to "Micropositioning and Control of an Underactuated Platform for Microscopic Applications" [0.03%]
《用于显微应用的欠驱动平台的微位置和控制》一文的勘误
Kihan Park,Jaydev P Desai
Kihan Park
[This corrects the article PMC5110010.].
Design and Backdrivability Modeling of a Portable High Torque Robotic Knee Prosthesis With Intrinsic Compliance For Agile Activities [0.03%]
一种便携式高扭矩假肢膝关节的设计及回退驱动建模（具有本征柔顺性，适合敏捷活动）
Junxi Zhu,Chunhai Jiao,Israel Dominguez et al.
Junxi Zhu et al.
High-performance prostheses are crucial to enable versatile activities like walking, squatting, and running for lower extremity amputees. State-of-the-art prostheses are either not powerful enough to support demanding activities or have low...
Multiphysical Analytical Modeling and Design of A Magnetically Steerable Robotic Catheter for Treatment of Peripheral Artery Disease [0.03%]
外周动脉疾病治疗的磁控导管机器人建模与设计研究
Yang Liu,Tarunraj G Mohanraj,Mohammad R Rajebi et al.
Yang Liu et al.
This article presents a unique multiphysical analytical modeling framework and solution algorithm to provide an effective tool for design of magnetically steerable robotic catheters (MSRCs) experiencing external interaction loads. Particula...
Influence of Antagonistic Tensions on Distributed Friction Forces of Multisegment Tendon-Driven Continuum Manipulators With Irregular Geometry [0.03%]
对抗张力对具有不规则几何形状的多段肌腱驱动连续 manipulator 的分布式摩擦力的影响
Yang Liu,Uksang Yoo,Seungbeom Ha et al.
Yang Liu et al.
In this paper, we thoroughly analyze the effect of single-tendon and antagonistic tendons actuation on tension loss of multi-segment tendon-driven continuum manipulators (TD-CMs) with irregular geometry. To this end, we propose a generic an...
Automated Retinal Vein Cannulation on Silicone Phantoms Using Optical-Coherence-Tomography-Guided Robotic Manipulations [0.03%]
基于光学断层成像的机器人操控技术在硅胶眼底血管模型中的自动穿刺实验
Matthew J Gerber,Jean-Pierre Hubschman,Tsu-Chin Tsao
Matthew J Gerber
Retinal vein occlusion is one of the most common causes of vision loss, occurring when a blood clot or other obstruction occludes a retinal vein. A potential remedy for retinal vein occlusion is retinal vein cannulation, a surgical procedur...
Anthony L Gunderman,Ehud J Schmidt,Marc Morcos et al.
Anthony L Gunderman et al.
Brachytherapy is a radiation based treatment that is implemented by precisely placing focused radiation sources into tumors. In advanced interstitial cervical cancer bracytherapy treatment, this is performed by placing a metallic rod ("styl...
Characterization of a packaged triboelectric harvester under simulated gait loading for total knee replacement [0.03%]
基于模拟步态载荷的全膝关节置换包装摩擦电能量收集器的表征研究
Nabid Aunjum Hossain,Geofrey George Yamomo,Ryan Willing et al.
Nabid Aunjum Hossain et al.
Load sensing total knee replacement (TKR) implants are useful tools for monitoring prosthesis health and providing quantitative data to support patient claims of pain or instability. However, powering such devices throughout the entire life...
Design Principles for Compact, Backdrivable Actuation in Partial-Assist Powered Knee Orthoses [0.03%]
助力膝关节外骨骼紧凑型双向驱动机构设计原则研究
Hanqi Zhu,Christopher Nesler,Nikhil Divekar et al.
Hanqi Zhu et al.
This paper presents the design and validation of a backdrivable powered knee orthosis for partial assistance of lower-limb musculature, which aims to facilitate daily activities in individuals with musculoskeletal disorders. The actuator de...
Investigation of Micro-motion Kinematics of Continuum Robots for Volumetric OCT and OCT-guided Visual Servoing [0.03%]
用于体积OCT和OCT视觉伺服的连续机器人微运动动力学研究
Giuseppe Del Giudice,Andrew L Orekhov,Jin-Hui Shen et al.
Giuseppe Del Giudice et al.
Continuum robots (CR) have been recently shown capable of micron-scale motion resolutions. Such motions are achieved through equilibrium modulation using indirect actuation for altering either internal preload forces or changing the cross-s...