Friction Modeling of Tendon-driven Continuum Robots through Linear Complementarity Problem [0.03%]
基于线性互补问题的肌腱驱动连续体机器人摩擦模型研究
Jia Shen,Brendan Browne,Junhyoung Ha et al.
Jia Shen et al.
Tendon-driven continuum robots (TDCR) are widely used in medical interventions due to their inherent dexterity and compliance. However, precise motion planning and control of these robots remain challenging, largely because existing models ...
Efficient and Scalable Tuning of Continuous Impedance Control for Powered Knee Prostheses [0.03%]
高效且可扩展的连续阻抗控制人工膝关节调参方法
Woolim Hong,Amirreza Naseri,He Helen Huang
Woolim Hong
Powered knee prostheses based on continuous impedance control enable smooth and human-like joint behavior; however, practical tuning remains challenging due to the high dimensionality of impedance functions and subject-dependent variability...
Validation of Dynamic Bayesian Optimization for a Non-Stationary Human-in-the-Loop Optimization Problem [0.03%]
动态贝叶斯优化在非平稳的人机环节数学问题中的验证
GilHwan Kim,Fabrizio Sergi
GilHwan Kim
Human-in-the-Loop Optimization (HILO) has demonstrated efficacy in achieving a plethora of assistive or augmentative effects. However, conventional optimizers such as Bayesian optimization (BO) do not account for the non-stationary aspects ...
Error-State Model Predictive Path Integral Control of Tendon-Driven Continuum Robots using Cosserat Rod Dynamics with Strain Parametrization [0.03%]
基于应变参数化的科塞拉杆动力学的肌腱驱动连续机器人误差状态模型预测路径积分控制
E Arefinia,N Feizi,F C Pedrosa et al.
E Arefinia et al.
This paper presents an error-state Model Predictive Path Integral (MPPI) framework for tendon-driven continuum robots (TDCRs). Tracking-error dynamics are formulated on a Lie group to preserve full pose geometry, yielding precise position-o...
Closed-loop Control of Steerable Balloon Endoscopes for Robot-assisted Transcatheter Intracardiac Procedures [0.03%]
闭环控制可转向球囊内镜以进行机器人辅助经导管心腔程序
Max McCandless,Jonathan Hamid,Sammy Elmariah et al.
Max McCandless et al.
To move away from open-heart surgery towards safer transcatheter procedures, there is a growing need for improved imaging techniques and robotic solutions to enable simple, accurate tool navigation. Common imaging modalities, such as fluoro...
Viola Del Bono,Emma Capaldi,Anushka Kelshiker et al.
Viola Del Bono et al.
Soft optical sensors hold potential for enhancing minimally invasive procedures like colonoscopy, yet their complex, multi-modal responses pose significant challenges. This work introduces a machine learning (ML) framework for real-time est...
Adjustable Compliance Footwear Technology to Investigate Gait Adaptation [0.03%]
可调刚度鞋底技术在步态适应性研究中的应用
Mark Price,Calder Robbins,Sarah Szemethy et al.
Mark Price et al.
Kinetic asymmetries in gait caused by neuropathology are a major factor in mobility deficiency. Gait perturbation training has shown promise for rehabilitating neurological gait asymmetry, but the transfer of benefits from treadmill trainin...
Yuan Wang,Giovanni Pittiglio,Xiaowei Lin et al.
Yuan Wang et al.
Magnet localization is widely used for real-time medical instrument tracking because it offers a radiation-free alternative to fluoroscopy. While physics-model-based tracking methods are standard, localization accuracy can suffer owing to i...
Leonardo Zamora Yañez,Jacob Rogatinsky,Dominic Recco et al.
Leonardo Zamora Yañez et al.
Trans-catheter cardiac intervention has become an increasingly available option for high-risk patients without the complications of open heart surgery. However, current catheter-based platforms suffer from a lack of dexterity, force applica...
Topology-Informed Quasi-Static Motion Planning for Continuum Robots with Contacts [0.03%]
基于拓扑的 continuum 机器人接触准静态运动规划方法
Yifan Wang,Yue Chen
Yifan Wang
Continuum robots (CR) can achieve excellent dexterity and flexibility, making them suitable for navigating through cluttered environments and safely interacting with obstacles. Due to the underactuated nature of CRs, the contact mode betwee...