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...
Deep Koopman Approach for Nonlinear Dynamics and Control of Tendon-Driven Continuum Robots [0.03%]
肌腱驱动 continuum 机器人非线性动力学和控制的深度科普曼方法
Navid Feizi,Filipe C Pedrosa,Jagadeesan Jayender et al.
Navid Feizi et al.
Tendon-driven continuum robots (TDCRs) have received widespread attention in the medical domain due to their slender shape and flexibility. Modeling the dynamics of TDCRs involves continuum mechanics that result in nonlinear and computation...
A-SEE2.0: Active-Sensing End-Effector for Robotic Ultrasound Systems with Dense Contact Surface Perception Enabled Probe Orientation Adjustment [0.03%]
一种用于机器人超声系统的主动式末端执行器，具有密集接触表面感知的探头方位调节功能
Yernar Zhetpissov,Xihan Ma,Kehan Yang et al.
Yernar Zhetpissov et al.
Conventional freehand ultrasound (US) imaging is highly dependent on the skill of the operator, leading to inconsistent results and increased physical burden on sonographers. Robotic Ultrasound Systems (RUSS) aim to address these limitation...
Universal Actuation Module and Kinematic Model for Heart Valve Interventional Catheter Robotization [0.03%]
心脏瓣膜介入导管机器人化的通用执行机构与运动学模型研究
Weizhao Wang,Zicong Wu,Carlo Saija et al.
Weizhao Wang et al.
Catheters have been widely used to deal with heart valve diseases. However, the diversity in handle structures and bending curvatures imposes significant complexities in safe delivery and positioning. In this work, we designed a module for ...
The Only Way Is Up: Active Knee Exoskeleton Reduces Muscular Effort in Quadriceps During Weighted Stair Ascent [0.03%]
膝关节外骨骼在负重爬楼梯时减少股四头肌的用力
Vincent S Boon,Brendon Ortolano,Andrew J Gunnell et al.
Vincent S Boon et al.
Firefighters consistently rank stair ascent with gear, which can weigh over 35 kg, as their most demanding activity. Weighted stair climbing requires dynamic motions and large knee torques, which can cause exhaustion in the short term, and ...
A novel seamless magnetic-based actuating mechanism for end-effector-based robotic rehabilitation platforms [0.03%]
一种新颖的基于磁场作用机制的末端效应器康复机器人平台接续方式
Sima Ghafoori,Ali Rabiee,Maryam Norouzi et al.
Sima Ghafoori et al.
Rehabilitation robotics continues to confront sub-stantial challenges, particularly in achieving smooth, safe, and intuitive human-robot interactions for upper limb motor training. Many current systems depend on complex mechanical designs, ...
A Real-Time, Semi-Autonomous Navigation Platform for Soft Robotic Bronchoscopy [0.03%]
一种软体机器人支气管镜的实时半自主导航平台
Daniel Van Lewen,Yitong Lu,Frank Juliá-Wise et al.
Daniel Van Lewen et al.
Navigating through the peripheral lung branches poses a significant challenge in diagnosing lesions during bronchoscopy. Soft robots are well-suited to address current limitations in bronchoscopy due to their scale, dexterity, and adaptabil...