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...
Transfer Learning for Efficient Intent Prediction in Lower-Limb Prosthetics: A Strategy for Limited Datasets [0.03%]
转移学习在下肢假体意图预测中的应用：有限数据集策略
Duong Le,Shihao Cheng,Robert D Gregg et al.
Duong Le et al.
This paper presents a transfer learning method to enhance locomotion intent prediction in novel transfemoral amputee subjects, particularly in data-sparse scenarios. Transfer learning is done with three pre-trained models trained on separat...
Investigating Haptic Feedback in Vision-Deficient Millirobot Telemanipulation [0.03%]
探究视障millirobot遥操作中的触觉反馈
Naveed D Riaziat,Onder Erin,Axel Krieger et al.
Naveed D Riaziat et al.
The evolution of magnetically actuated millirobots gives rise to unique teleoperation challenges due to their non-traditional kinematic and dynamic architectures, as well as their frequent use of suboptimal imaging modalities. Recent invest...
Toward Extending Concentric Tube Robot Kinematics for Large Clearance and Impulse Curvature [0.03%]
面向大径间隙和脉冲曲率的套管机器人运动学拓展研究
Zhouyu Zhang,Jia Shen,Junhyoung Ha et al.
Zhouyu Zhang et al.
Concentric Tube Robots (CTRs) have been proposed to operate within the unstructured environment for minimally invasive surgeries. In this letter, we consider the operation scenario where the tubes travel inside the channels with a large cle...
Peiyao Zhang,Ji Woong Kim,Peter Gehlbach et al.
Peiyao Zhang et al.
Subretinal injection is an effective method for direct delivery of therapeutic agents to treat prevalent subretinal diseases. Among the challenges for surgeons are physiological hand tremor, difficulty resolving single-micron scale depth pe...
Robustification of Bayesian-Inference-Based Gait Estimation for Lower-limb Wearable Robots [0.03%]
基于贝叶斯推理步态估计的强化算法在下肢可穿戴机器人中的应用研究
Ting-Wei Hsu,Robert D Gregg,Gray C Thomas
Ting-Wei Hsu
Lower-limb wearable robots designed to assist people in everyday activities must reliably recover from any momentary confusion about what the user is doing. Such confusion might arise from momentary sensor failure, collision with an obstacl...