Remote Extended Reality with Markerless Motion Tracking for Sitting Posture Training [0.03%]
基于无标记运动追踪的坐姿训练远程扩展现实系统
Xupeng Ai,Sunil K Agrawal
Xupeng Ai
Dynamic postural control during sitting is essential for functional mobility and daily activities. Extended reality (XR) presents a promising solution for posture training in addressing conventional training limitations related to patient a...
ChatEMG: Synthetic Data Generation to Control a Robotic Hand Orthosis for Stroke [0.03%]
基于合成数据生成的中风康复机器人手矫形器控制系统
Jingxi Xu,Runsheng Wang,Siqi Shang et al.
Jingxi Xu et al.
Intent inferral on a hand orthosis for stroke patients is challenging due to the difficulty of data collection. Additionally, EMG signals exhibit significant variations across different conditions, sessions, and subjects, making it hard for...
Comparison of Classical, Neural Network and Hybrid Models for Hysteretic Single-tendon Catheter Kinematics [0.03%]
经典、神经网络和混合模型的单腱 catheter 滞回动力学对比分析
Yuan Wang,Pierre E Dupont
Yuan Wang
While robotic control of catheter motion can improve tip positioning accuracy, hysteresis arising from tendon friction and flexural deformation degrades kinematic modeling accuracy. In this paper, we compare the capabilities of three types ...
Design and Validation of Soft Sliding Structure with Adjustable Stiffness for Ankle Sprain Prevention [0.03%]
用于踝关节扭伤防护的可调刚度软滑动结构设计与验证
Seoyeon Ham,Soe Lin Paing,Brian Byunghyun Kang et al.
Seoyeon Ham et al.
This study presents the design and validation of a soft sliding stiffness structure with a soft-rigid layer sliding mechanism. It aims to mitigate ankle sprains and address the progression of chronic ankle instability by providing stiffness...
In Vivo Feasibility Study: Evaluating Autonomous Data-Driven Robotic Needle Trajectory Correction in MRI-Guided Transperineal Procedures [0.03%]
基于自驱动数据的机器人穿刺轨迹校正系统的体内可行性研究：磁共振引导经会阴前列腺采样手术中自主导航系统应用探索研究
Mariana C Bernardes,Pedro Moreira,Dimitri Lezcano et al.
Mariana C Bernardes et al.
This study addresses the targeting challenges in MRI-guided transperineal needle placement for prostate cancer (PCa) diagnosis and treatment, a procedure where accuracy is crucial for effective outcomes. We introduce a parameter-agnostic tr...
Improving Task-Agnostic Energy Shaping Control of Powered Exoskeletons with Task/Gait Classification [0.03%]
基于任务/步态分类的外骨骼机器人任务无关能量成形控制方法研究
Jianping Lin,Robert D Gregg,Peter B Shull
Jianping Lin
Emerging task-agnostic control methods offer a promising avenue for versatile assistance in powered exoskeletons without explicit task detection, but typically come with a performance trade-off for specific tasks and/or users. One such appr...
Ji Woong Kim,Shuwen Wei,Peiyao Zhang et al.
Ji Woong Kim et al.
Retinal surgery is a challenging procedure requiring precise manipulation of the fragile retinal tissue, often at the scale of tens-of-micrometers. Its difficulty has motivated the development of robotic assistance platforms to enable preci...
Design, Modeling, and Control of a Coaxially Aligned Steerable (COAST) Guidewire Robot [0.03%]
可操控同轴导丝机器人机构设计、建模与控制方法研究
Seokhwan Jeong,Yash Chitalia,Jaydev P Desai
Seokhwan Jeong
Manual navigation of a guidewire is the first step in endovascular interventions. However, this procedure is time consuming with uncertain results due to tortuous vascular anatomy. This paper introduces the design of a novel COaxially Align...
Teleoperation and Contact Detection of a Waterjet-Actuated Soft Continuum Manipulator for Low-Cost Gastroscopy [0.03%]
基于水射流驱动的软连续体内窥镜机器人手操与触觉感知研究
Federico Campisano,Andria A Remirez,Claire A Landewee et al.
Federico Campisano et al.
Gastric cancer is the third leading cause of cancer deaths worldwide, with most new cases occurring in low and middle income countries, where access to screening programs is hindered by the high cost of conventional endoscopy. The waterjet-...
Logan E Beaver,Max Sokolich,Suhail Alsalehi et al.
Logan E Beaver et al.
Micron-scale robots (μbots) have recently shown great promise for emerging medical applications. Accurate control of μbots, while critical to their successful deployment, is challenging. In this work, we consider the problem of tracking a...