Jake A Childs,Caleb Rucker
Jake A Childs
Concentric push-pull robots (CPPR) operate through the mechanical interactions of concentrically nested, laser-cut tubes with offset stiffness centers. The distal tips of the tubes are attached to each other, and relative displacement of th...
Semiautonomous Robotic Manipulator for Minimally Invasive Aortic Valve Replacement [0.03%]
用于微创主动脉瓣置换的半自主机器人操作器
Izadyar Tamadon,S M Hadi Sadati,Virginia Mamone et al.
Izadyar Tamadon et al.
Aortic valve surgery is the preferred procedure for replacing a damaged valve with an artificial one. The ValveTech robotic platform comprises a flexible articulated manipulator and surgical interface supporting the effective delivery of an...
Simultaneous Online Registration-Independent Stiffness Identification and Tip Localization of Surgical Instruments in Robot-assisted Eye Surgery [0.03%]
机器人辅助眼科手术中手术器械的在线同步注册-独立刚度识别与尖端定位
Ali Ebrahimi,Shahriar Sefati,Peter Gehlbach et al.
Ali Ebrahimi et al.
Notable challenges during retinal surgery lend themselves to robotic assistance which has proven beneficial in providing a safe steady-hand manipulation. Efficient assistance from the robots heavily relies on accurate sensing of surgery sta...
Data-Driven Variable Impedance Control of a Powered Knee-Ankle Prosthesis for Adaptive Speed and Incline Walking [0.03%]
数据驱动的助力膝踝假肢变阻尼控制以适应速度和坡度行走
T Kevin Best,Cara Gonzalez Welker,Elliott J Rouse et al.
T Kevin Best et al.
Most impedance-based walking controllers for powered knee-ankle prostheses use a finite state machine with dozens of user-specific parameters that require manual tuning by technical experts. These parameters are only appropriate near the ta...
Real-Time Gait Phase and Task Estimation for Controlling a Powered Ankle Exoskeleton on Extremely Uneven Terrain [0.03%]
用于控制假肢踝足装置在极不平地形上行走时的实时步态相和任务估计方法研究
Roberto Leo Medrano,Gray Cortright Thomas,Connor G Keais et al.
Roberto Leo Medrano et al.
Positive biomechanical outcomes have been reported with lower-limb exoskeletons in laboratory settings, but these devices have difficulty delivering appropriate assistance in synchrony with human gait as the task or rate of phase progressio...
Surgically Implanted Electrodes Enable Real-Time Finger and Grasp Pattern Recognition for Prosthetic Hands [0.03%]
手术植入电极实现实时假手手指和抓握模式识别
Alex K Vaskov,Philip P Vu,Naia North et al.
Alex K Vaskov et al.
Currently available prosthetic hands are capable of actuating anywhere from five to 30 degrees of freedom (DOF). However, grasp control of these devices remains unintuitive and cumbersome. To address this issue, we propose directly extracti...
Design, Control, and Experimental Evaluation of A Novel Robotic Glove System for Patients with Brachial Plexus Injuries [0.03%]
一种用于臂丛神经损伤患者的新型机器人手爪系统的设计、控制及实验评价研究
Wenda Xu,Yunfei Guo,Cesar Bravo et al.
Wenda Xu et al.
This paper presents the development of an exoskeleton glove system for people who suffer from brachial plexus injuries, aiming to assist their lost grasping functionality. The robotic system consists of a portable glove system and an embedd...
Modeling and Stiffness-based Continuous Torque Control of Lightweight Quasi-Direct-Drive Knee Exoskeletons for Versatile Walking Assistance [0.03%]
轻量级准直接驱动膝外骨骼的建模与刚度连续扭矩控制在多样行走助力中的应用
Tzu-Hao Huang,Sainan Zhang,Shuangyue Yu et al.
Tzu-Hao Huang et al.
State-of-the-art exoskeletons are typically limited by low control bandwidth and small range stiffness of actuators which are based on high gear ratios and elastic components (e.g., series elastic actuators). Furthermore, most exoskeletons ...
SAR-Connect: A Socially Assistive Robotic System to Support Activity and Social Engagement of Older Adults [0.03%]
一种支持老年人活动和社会交往的社会助残机器人系统
Jing Fan,Lorraine C Mion,Linda Beuscher et al.
Jing Fan et al.
Multi-domain activities that incorporate physical, cognitive, and social stimuli can enhance older adults' overall health and quality of life. Several robotic platforms have been developed to provide these therapies in a quantifiable manner...
Optical Coherence Tomography-Guided Robotic Ophthalmic Microsurgery via Reinforcement Learning from Demonstration [0.03%]
基于示范强化学习的光学 coherence 技术指导机器人眼科微手术
Brenton Keller,Mark Draelos,Kevin Zhou et al.
Brenton Keller et al.
Ophthalmic microsurgery is technically difficult because the scale of required surgical tool manipulations challenge the limits of the surgeon's visual acuity, sensory perception, and physical dexterity. Intraoperative optical coherence tom...