Zicong Wu,Mikel De Iturrate Reyzabal,S M Hadi Sadati et al.
Zicong Wu et al.
Soft robots that grow through eversion/apical extension can effectively navigate fragile environments such as ducts and vessels inside the human body. This paper presents the physics-based model of a miniature steerable eversion growing rob...
Characterizing Prosthesis Control Fault during Human-Prosthesis Interactive Walking Using Intrinsic Sensors [0.03%]
基于内置传感器的假肢交互步行中假肢控制故障表征研究
Amirreza Naseri,Ming Liu,I-Chieh Lee et al.
Amirreza Naseri et al.
The physical interactions between wearable lower limb robots and humans have been investigated to inform effective robot design for walking augmentation. However, human-robot interactions when internal faults occur within robots have not be...
Enhanced Accuracy in Magnetic Actuation: Closed-loop Control of a Magnetic Agent with Low-Error Numerical Magnetic Model Estimation [0.03%]
磁驱动的增强精度：具有低误差数值磁场模拟的磁性粒子闭环控制
Onder Erin,Suraj Raval,Trevor J Schwehr et al.
Onder Erin et al.
Magnetic actuation holds promise for wirelessly controlling small, magnetic surgical tools and may enable the next generation of ultra minimally invasive surgical robotic systems. Precise torque and force exertion are required for safe surg...
Brandon H Meng,Isuru S Godage,Iyad Kanj
Brandon H Meng
Continuum arms are bio-inspired devices that exhibit continuous, smooth bending and generate motion through structural deformation. Rapidly-exploring random trees (RRT) is a traditional approach for performing efficient path planning. RRT a...
Tactile Robotic Telemedicine for Safe Remote Diagnostics in Times of Corona: System Design, Feasibility and Usability Study [0.03%]
用于冠状疫情期间安全远程诊断的触觉机器人远程医疗：系统设计、可行性及使用研究
Abdeldjallil Naceri,Jean Elsner,Mario Trobinger et al.
Abdeldjallil Naceri et al.
The current crisis surrounding the COVID-19 pandemic demonstrates the amount of responsibility and the workload on our healthcare system and, above all, on the medical staff around the world. In this work, we propose a promising approach to...
Fluoroscopic Image-Based 3-D Environment Reconstruction and Automated Path Planning for a Robotically Steerable Guidewire [0.03%]
基于透视图的三维环境重建及智能导引丝的自主路径规划方法研究
Sharan R Ravigopal,Timothy A Brumfiel,Achraj Sarma et al.
Sharan R Ravigopal et al.
Cardiovascular diseases are the leading cause of death globally and surgical treatments for these often begin with the manual placement of a long compliant wire, called a guidewire, through different vasculature. To improve procedure outcom...
Enhancing Voluntary Motion with Modular, Backdrivable, Powered Hip and Knee Orthoses [0.03%]
模块化反驱动假肢髋膝外骨骼助力自愿运动增强
Christopher Nesler,Gray Thomas,Nikhil Divekar et al.
Christopher Nesler et al.
Mobility disabilities are prominent in society with wide-ranging deficits, motivating modular, partial-assist, lower-limb exoskeletons for this heterogeneous population. This paper introduces the Modular Backdrivable Lower-limb Unloading Ex...
Impact of Generic Tendon Routing on Tension Loss of Tendon-Driven Continuum Manipulators with Planar Deformation [0.03%]
通用肌腱布线对平面变形的连续体操作机器人的肌腱张力损失的影响研究
Yang Liu,Farshid Alambeigi
Yang Liu
We present a novel physically-intuitive mathematical formulation to investigate the effects of a fully-constrained generic tendon routing (GTR) on the correlation between tension loss and deformation behavior of a variable-curvature tendon-...
A Michael West Jr,James Hermus,Meghan E Huber et al.
A Michael West Jr et al.
Humans excel at physical interaction despite long feedback delays and low-bandwidth actuators. Yet little is known about how humans manage physical interaction. A quantitative understanding of how they do is critical for designing machines ...
Bilateral vs. Paretic-Limb-Only Ankle Exoskeleton Assistance for Improving Hemiparetic Gait: A Case Series [0.03%]
双边与单侧瘫痪踝足外骨骼助力对偏瘫步态的影响：系列病例报告研究
Ying Fang,Zachary F Lerner
Ying Fang
People with lower-limb hemiparesis have impaired function on one side of the body that affects their walking ability. Wearable robotic assistance has been investigated to treat hemiparetic gait by applying assistance to the paretic limb. In...