Towards a Steerable Neurosurgical Robot for Debulking of Brain Mass Lesions [0.03%]
一种用于切除脑大体病灶的可操控神经外科机器人研究
Sarvesh Saini,Saeed Rezaeian,Arshia Akbari et al.
Sarvesh Saini et al.
Minimally invasive surgery is regarded as a safer approach than open craniotomy to removing deep intracerebral mass lesions such as hematomas. It is usually performed by introducing a straight suction tool, sometimes combined with accessori...
Towards shape-adaptive attachment design for wearable devices using granular jamming [0.03%]
基于颗粒物 jamming 的可穿戴设备形状自适应固定设计探索
Joseph Brignone,Logan Lancaster,Edoardo Battaglia et al.
Joseph Brignone et al.
Attaching a wearable device to the user's body for comfort and function while accommodating the differences and changes in body shapes often represents a challenge. In this paper, we propose an approach that addresses this problem through g...
Mode-Unified Intent Estimation of a Robotic Prosthesis using Deep-Learning [0.03%]
基于深度学习的机器人假肢模式统一意图估计
Hanjun Kim,Dawit Lee,Jairo Y Maldonado-Contreras et al.
Hanjun Kim et al.
Traditional robotic knee-ankle prostheses categorize ambulation modes such as level walking, ramps, and stairs. However, human movement scales continuously across various states rather than discretely, making traditional mode classifiers in...
Christoph P O Nuesslein,Aaron J Young
Christoph P O Nuesslein
Deep learning offers a potentially powerful alternative to hand-tuned control of active lower-limb prostheses, being capable of generating continuous joint-level assistance end-to-end. This eliminates the need for conventional task classifi...
Dynamic Duo: Design and Validation of an Autonomous Frontal and Sagittal Actuating Hip Exoskeleton for Balance Modulation During Perturbed Locomotion [0.03%]
动态二人组：设计和验证一个自主前后向驱动的髋部外骨骼以在不稳定行走过程中调节平衡
Jennifer K Leestma,Snehil Mathur,Maximilian D Anderton et al.
Jennifer K Leestma et al.
Humans are required to maintain balance during locomotion in challenging environments, which present an even bigger challenge for individuals with balance impairments. Exoskeleton-driven balance augmentation is a promising avenue to assist ...
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...