Design, Implementation, and Observer-based Output Control of a Super-coiled Polymer-Driven Two Degree-of-Freedom Robotic Eye [0.03%]
一种超卷绕聚合物驱动两自由度仿生机器人眼球的设计、实现与基于观测器的输出反馈控制
Sunil Kumar Rajendran,Qi Wei,Ningshi Yao et al.
Sunil Kumar Rajendran et al.
The prevalence of ineffective corrective surgeries for ocular motor disorders calls for a robotic eye platform in aiding ophthalmologists to better understand the biomechanisms of human eye movement. This letter presents the first hardware ...
Concentric Tube Robot Redundancy Resolution via Velocity/Compliance Manipulability Optimization [0.03%]
基于速度/柔顺性操作度优化的同轴管机器人冗余解算方法研究
Jia Shen,Yifan Wang,Milad Azizkhani et al.
Jia Shen et al.
Concentric Tube Robots (CTR) have the potential to enable effective minimally invasive surgeries. While extensive modeling and control work have been proposed in the past decade, limited efforts have been made to improve the path tracking p...
Simulating Muscle-Level Energetic Cost Savings When Humans Run with a Passive Assistive Device [0.03%]
被动助力设备对人体肌肉能耗的节约效果仿真研究
Jon P Stingel,Jennifer L Hicks,Scott D Uhlrich et al.
Jon P Stingel et al.
Connecting the legs with a spring attached to the shoelaces, called an exotendon, can reduce the energetic cost of running, but how the exotendon reduces the energetic burden of individual muscles remains unknown. We generated muscle-driven...
Wireless Millimeter-Size Soft Climbing Robots with Omnidirectional Steerability on Tissue Surfaces [0.03%]
一种毫米级无线软体爬行机器人用于组织表面全方位移动检测与监测
Yilan Xu,Boyang Xiao,Lohit Balakumar et al.
Yilan Xu et al.
Wirelessly actuated miniature soft robots actuated by magnetic fields that can overcome gravity by climbing soft and wet tissues are promising for accessing challenging enclosed and confined spaces with minimal invasion for targeted medical...
Yanzhou Wang,Ka-Wai Kwok,Kevin Cleary et al.
Yanzhou Wang et al.
An in situ needle manipulation technique used by physicians when performing spinal injections is modeled to study its effect on needle shape and needle tip position. A mechanics-based model is proposed and solved using finite element method...
Model-based Design of the COAST Guidewire Robot for Large Deflection [0.03%]
基于模型的COAST导丝机器人机构设计用于大位移操作
Yash Chitalia,Achraj Sarma,Timothy A Brumfiel et al.
Yash Chitalia et al.
Minimally invasive endovascular procedures involve the manual placement of a guidewire, which is made difficult by vascular tortuosity and the lack of precise tip control. Steerable guidewire systems have been developed with tendon-driven, ...
Toward Continuum Robot Tentacles for Lung Interventions: Exploring Folding Support Disks [0.03%]
用于肺部干预的连续机器人腕足：探索折叠支撑盘
Margaret Rox,Daniel S Esser,Mariana E Smith et al.
Margaret Rox et al.
Toward the future goal of creating a lung surgery system featuring multiple tentacle-like robots, we present a new folding concept for continuum robots that enables them to squeeze through openings smaller than the robot's nominal diameter ...
A-SEE: Active-Sensing End-effector Enabled Probe Self-Normal-Positioning for Robotic Ultrasound Imaging Applications [0.03%]
一种基于自感式末端执行器的机器人超声探头主动感知自稳态定位方法(A-SEE)
Xihan Ma,Wen-Yi Kuo,Kehan Yang et al.
Xihan Ma et al.
Conventional manual ultrasound (US) imaging is a physically demanding procedure for sonographers. A robotic US system (RUSS) has the potential to overcome this limitation by automating and standardizing the imaging procedure. It also extend...
Data-Driven Modelling and Control for Robot Needle Insertion in Deep Anterior Lamellar Keratoplasty [0.03%]
数据驱动的深板层角膜移植术机器人针插入建模与控制方法
William Edwards,Gao Tang,Yuan Tian et al.
William Edwards et al.
Deep anterior lamellar keratoplasty (DALK) is a technique for cornea transplantation which is associated with reduced patient morbidity. DALK has been explored as a potential application of robot microsurgery because the small scales, fine ...
Deep-Learning to Map a Benchmark Dataset of Non-amputee Ambulation for Controlling an Open Source Bionic Leg [0.03%]
基于深度学习的基准数据集映射方法在开源仿生腿控制中的应用研究
Minjae Kim,Levi J Hargrove
Minjae Kim
Powered lower-limb prosthetic devices may be becoming a promising option for amputation patients. Although various methods have been proposed to produce gait trajectories similar to those of non-disabled individuals, implementing these cont...