Jiaole Wang,Joseph Peine,Pierre E Dupont
Jiaole Wang
This paper presents a novel continuum robot sheath for use in single-port minimally invasive procedures such as neuroendoscopy in which the sheath is designed to deliver multiple robotic arms. Actuation of the sheath is achieved by using pr...
Powered Knee and Ankle Prosthesis with Adaptive Control Enables Climbing Stairs with Different Stair Heights, Cadences, and Gait Patterns [0.03%]
自适应控制助力式膝踝假肢能够以不同步态攀登高度、节奏和模式不同的楼梯
Sarah Hood,Lukas Gabert,Tommaso Lenzi
Sarah Hood
Powered prostheses can enable individuals with above-knee amputations to ascend stairs step-over-step. To accomplish this task, available stair ascent controllers impose a pre-defined joint impedance behavior or follow a pre-programmed posi...
A Dexterous Robotic System for Autonomous Debridement of Osteolytic Bone Lesions in Confined Spaces: Human Cadaver Studies [0.03%]
一种用于封闭空间内 osteolytic 骨病变自主清创的灵巧机器人系统：人体尸体研究
Shahriar Sefati,Rachel Hegeman,Iulian Iordachita et al.
Shahriar Sefati et al.
This article presents a dexterous robotic system for autonomous debridement of osteolytic bone lesions in confined spaces. The proposed system is distinguished from the state-of-the-art orthopedics systems because it combines a rigid-link r...
Yulun Tian,Kasra Khosoussi,David M Rosen et al.
Yulun Tian et al.
This paper presents the first certifiably correct algorithm for distributed pose-graph optimization (PGO), the backbone of modern collaborative simultaneous localization and mapping (CSLAM) and camera network localization (CNL) systems. Our...
Model-based feedback control of live zebrafish behavior via interaction with a robotic replica [0.03%]
基于模型的实时斑马鱼行为反馈控制及其与机器人复制品互动研究
Pietro DeLellis,Edoardo Cadolini,Arrigo Croce et al.
Pietro DeLellis et al.
The possibility of regulating the behavior of live animals using biologically-inspired robots has attracted the interest of biologists and engineers for over twenty-five years. From early work on insects to recent endeavors on mammals, we h...
John Till,Vincent Aloi,Katherine E Riojas et al.
John Till et al.
Existing static and kinematic models of concentric tube robots are based on the ordinary differential equations of a static Cosserat rod. In this paper, we provide the first dynamic model for concentric tube continuum robots by adapting the...
Design and Validation of a Powered Knee-Ankle Prosthesis with High-Torque, Low-Impedance Actuators [0.03%]
一种采用高扭矩、低阻抗驱动器的膝踝假肢的设计与验证
Toby Elery,Siavash Rezazadeh,Christopher Nesler et al.
Toby Elery et al.
We present the design of a powered knee-ankle prosthetic leg, which implements high-torque actuators with low-reduction transmissions. The transmission coupled with a high-torque and low-speed motor creates an actuator with low mechanical i...
SCADE: Simultaneous Sensor Calibration and Deformation Estimation of FBG-Equipped Unmodeled Continuum Manipulators [0.03%]
基于光纤布拉格光栅的 continuum 无模型连续体机器人传感器校准与变形估计同时进行算法(scade)
Farshid Alambeigi,Sahba Aghajani Pedram,Jason L Speyer et al.
Farshid Alambeigi et al.
In this article, we present a novel stochastic algorithm called simultaneous sensor calibration and deformation estimation (SCADE) to address the problem of modeling deformation behavior of a generic continuum manipulator (CM) in free and o...
An Elbow Exoskeleton for Upper Limb Rehabilitation with Series Elastic Actuator and Cable-driven Differential [0.03%]
一种用于上肢康复的系列弹性驱动和钢索差分肘部外骨骼
Tianyao Chen,Rafael Casas,Peter S Lum
Tianyao Chen
Movement impairments resulting from neurologic injuries, such as stroke, can be treated with robotic exoskeletons that assist with movement retraining. Exoskeleton designs benefit from low impedance and accurate torque control. We designed ...
Sensitivity Ellipsoids for Force Control of Magnetic Robots with Localization Uncertainty [0.03%]
具有定位不确定性的磁力机器人力控制敏感椭球
Piotr R Slawinski,Nabil Simaan,Addisu Z Taddese et al.
Piotr R Slawinski et al.
The navigation of magnetic medical robots typically relies on localizing an actuated, intracorporeal, ferromagnetic body and back-computing a necessary field and gradient that would result in a desired wrench on the device. Uncertainty in t...