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Shape Reconstruction Processes for Interventional Application Devices: State of the Art, Progress, and Future Directions

Sujit Kumar Sahu, Canberk Sozer, Benoit Rosa, Izadyar Tamadon, Pierre Renaud, Arianna Menciassi
2021 Frontiers in Robotics and AI  
First, sensor-based techniques are presented that discuss the use of various sensors such as FBG, EM, and passive stretchable sensors for reconstructing the shape of the robots.  ...  Thus, in recent years lots of efforts have been devoted for the development of shape reconstruction methods, with the advancement of different kinematic models, sensors, and imaging techniques.  ...  ACKNOWLEDGMENTS The authors wish to thank the ATLAS project team; in particular Selene Tognarelli, and Mohammad Hasan Dad Ansari from the BioRobotics Institute, Scuola Superiore Sant'Anna for their suggestions  ... 
doi:10.3389/frobt.2021.758411 pmid:34869615 pmcid:PMC8640970 fatcat:ai5dvdz42bg77bkdkltc7u4x3i

Snake Robots for Surgical Applications: A Review

Jenna Seetohul, Mahmood Shafiee
2022 Robotics  
We present the types of actuation methods, robot kinematics, dynamics, sensing, and prospects of AR integration in snake robots, whilst addressing their shortcomings to facilitate the surgeon's task.  ...  interfaces, with features which have not been particularly explored in the literature.  ...  Use of passive wheels along the body, with 1 serpenoid curve, use of tactile sensors for obstacle-aided radio-servos for propulsion locomotion PIKo robot Fjerdingen et al. [41] Identical modules linked  ... 
doi:10.3390/robotics11030057 fatcat:vgpup2mp2vg65ikna66z4vzzsa

Continuous Backbone "Continuum" Robot Manipulators

Ian D. Walker
2013 ISRN Robotics  
In this paper, we review the current state of knowledge in the field, focusing particularly on kinematic and dynamic models for continuum robots.  ...  Also known as continuum manipulators, these robots, which resemble biological trunks and tentacles, offer capabilities beyond the scope of traditional rigid-link manipulators.  ...  Acknowledgments This research was supported in part by NASA under NRI Contract NNX12AM01G and in part by the U.S. National Science Foundation under Grant IIS-0904116.  ... 
doi:10.5402/2013/726506 fatcat:fd2ma6rcejgi7bypl7ojghqtle

Advancement of Flexible Robot Technologies for Endoluminal Surgeries

Joonhwan Kim, Michel de Mathelin, Koji Ikuta, Dong-Soo Kwon
2022 Proceedings of the IEEE  
This article covers the key technical issues in flexible surgical robotics, such as manipulator design, modeling, and control, and it introduces emerging flexible technologies organized according to their  ...  The authors sincerely appreciate the members of the Telerobotics and Control Laboratory, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea, for their support with the literature  ...  survey on key technical issues and flexible robot systems.  ... 
doi:10.1109/jproc.2022.3170109 fatcat:72kuf22csfgptbygasoj63z7xq

Table of Contents

2022 IEEE Robotics and Automation Letters  
Corke Shape Sensing for Continuum Robots by Capturing Passive Tendon Displacements With Image Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  ...  Smith Utilization of Image/Force/Tactile Sensor Data for Object-Shape-Oriented Manipulation: Wiping Objects With Turning Back Motions and Occlusion . . . . . . . . . . . . . . . . . . . . . . . . . . .  ... 
doi:10.1109/lra.2022.3165102 fatcat:enjzebowe5hn7hsfwklc7nieuy

A decade retrospective of medical robotics research from 2010 to 2020

Pierre E. Dupont, Bradley J. Nelson, Michael Goldfarb, Blake Hannaford, Arianna Menciassi, Marcia K. O'Malley, Nabil Simaan, Pietro Valdastri, Guang-Zhong Yang
2021 Science Robotics  
Mencattelli for assistance with the figures and references. We also thank Y. Guo and Z. Zhang for preparing Figs. 1 and 4 .  ...  Funding: Partial support for P.E.D. was provided by the NIH under grants R01NS099207 and R01HL124020. Partial support for B.J.N. was provided by the Swiss National Science Foundation through grant  ...  The most common approach to shape control is by varying the displacement or tension force applied to one or more tendons arranged around a central flexible backbone.  ... 
doi:10.1126/scirobotics.abi8017 pmid:34757801 pmcid:PMC8890492 fatcat:surntht2b5azpgrptjweq5bpn4

3D Printed Flexure Hinges for Soft Monolithic Prosthetic Fingers

Rahim Mutlu, Gursel Alici, Marc in het Panhuis, Geoffrey M. Spinks
2016 Soft Robotics  
The soft monolithic robotic fingers can be employed to handle objects with unknown shapes and are also potential low-cost candidates for establishing soft and one-piece prosthetic hands with light weight  ...  The soft monolithic robotic fingers can be employed to handle objects with unknown shapes and are also potential low cost candidates for establishing soft and one-piece prosthetic hands with light weight  ...  Acknowledgments This work has been supported by ARC Centre of Excellence for Electromaterials Science (Grant No.  ... 
doi:10.1089/soro.2016.0026 fatcat:3rjecvz4erdrfdr2uabfd2txj4

Soft Robot-Assisted Minimally Invasive Surgery and Interventions: Advances and Outlook

Ka-Wai Kwok, Helge Wurdemann, Alberto Arezzo, Arianna Menciassi, Kaspar Althoefer
2022 Proceedings of the IEEE  
This article provides an in-depth overview of recent progress in soft robotics for surgery and outlines remaining challenges in the development of soft robotics technologies for in-body operation, such  ...  Conventional Analytical Modeling Continuum robots are usually conical or cylindrical in shape and driven by tendons or fluids.  ...  By sensorizing the outer surface of the soft robot (with pressure or force/tactile sensors, chemical sensors, or impedance sensors, for example), it would be possible to detect the presence of even small  ... 
doi:10.1109/jproc.2022.3167931 fatcat:mjxwkfoqa5g4lbwfxrpv4apwdu

Morphological computation in haptic sensation and interaction: from nature to robotics

Julius E. Bernth, Van Anh Ho, Hongbin Liu
2018 Advanced Robotics  
The state of haptic systems for display, sensing and interaction that utilise morphological computation is then surveyed.  ...  Haptics, or the sense of touch, has played an important role in enhancing the versatility and capabilities of robots.  ...  This technique was employed in [102] in a continuum manipulator, where tendons driven by DC motors would pull against a pneumatic actuation system.  ... 
doi:10.1080/01691864.2018.1447393 fatcat:eerhebcno5aohjhrnzpl6gorj4

Design, Modeling, Control, and Application of Everting Vine Robots

Laura H. Blumenschein, Margaret M. Coad, David A. Haggerty, Allison M. Okamura, Elliot W. Hawkes
2020 Frontiers in Robotics and AI  
We conclude by identifying gaps in the state of the art and discussing opportunities for future research to advance everting vine robots and their usefulness in the field.  ...  Second, we describe the state of and need for modeling everting vine robots.  ...  ACKNOWLEDGMENTS We thank our many collaborators on everting vine robot research for discussions related to the topics presented here.  ... 
doi:10.3389/frobt.2020.548266 pmid:33501315 pmcid:PMC7805729 fatcat:7wosgy37bve7vhegpkbkczjjvi

2020 Index IEEE Robotics and Automation Letters Vol. 5

2020 IEEE Robotics and Automation Letters  
Towards FBG-Based Shape Sensing for Micro-Scale and Meso-Scale Continuum Robots With Large Deflection.  ...  ., +, LRA April 2020 2177-2184 Low-Cost Coil-Shaped Optical Fiber Displacement Sensor for a Twisted and Coiled Polymer Fiber Actuator Unit. Nanometer Precision With a Planar Parallel Continuum Robot.  ... 
doi:10.1109/lra.2020.3032821 fatcat:qrnouccm7jb47ipq6w3erf3cja

2021 Index IEEE Robotics and Automation Letters Vol. 6

2021 IEEE Robotics and Automation Letters  
The Author Index contains the primary entry for each item, listed under the first author's name.  ...  The primary entry includes the coauthors' names, the title of the paper or other item, and its location, specified by the publication abbreviation, year, month, and inclusive pagination.  ...  ., +, Robust Three-Dimensional Shape Sensing for Flexible Endoscopic Surgery Using Multi-Core FBG Sensors.  ... 
doi:10.1109/lra.2021.3119726 fatcat:lsnerdofvveqhlv7xx7gati2xu

Soft Pneumatic Actuators: A Review of Design, Fabrication, Modeling, Sensing, Control and Applications

Matheus S. Xavier, Charbel D. Tawk, Ali Zolfagharian, Joshua Pinskier, David Howard, Taylor Young, Jiewen Lai, Simon M. Harrison, Yuen K. Yong, Mahdi Bodaghi, Andrew J. Fleming
2022 IEEE Access  
Research Fellow with the University of Wollongong, where he worked on soft prosthetic hands with sensing capabilities, soft wearable devices, and soft dexterous grippers.  ...  , sensing, control, and applications of soft robotic devices.  ...  Model-less feedback controllers with vision-based sensing for continuum robots have been described in [487] , [488] .  ... 
doi:10.1109/access.2022.3179589 fatcat:nxdgxuorkjhcnoxwqc47gakone

Autonomous soft hand grasping – Literature review [article]

Tai Hoang
2022 arXiv   pre-print
Autonomous grasping remains challenging as unlike humans, robots do not possess a sophisticated sensing nor delicate interaction capability with the real environment.  ...  It is the trending research topic for soft hand grasping in recent years as it has shown a high performance when dealing with a large number of various objects.  ...  Throughout a specific tendon routing, all of the joints are actuated by the passive anti-derailment pulleys shown in Figure 2 Figure 2 : Pisa/IIT Softhand tendon routing [6] 3 Analytic methods for  ... 
arXiv:2203.04762v1 fatcat:7z22gtloyzaa5mtrz47a4w2b3u

Soft Robotic Grippers

Jun Shintake, Vito Cacucciolo, Dario Floreano, Herbert Shea
2018 Advanced Materials  
Acknowledgements This work was supported in part by the Swiss National Centre of Competence in Research (NCCR) Robotics, the FLAG ERA RoboCom++ project, and the Hasler Foundation.  ...  Robotic grippers can be equipped with proprioceptive sensors (e.g., Hall-effect sensors, encoders, torque sensors, tendon tension sensors) to estimate position and velocity of the gripper elements, and  ...  By doping of the gel with magnetic nanoparticles, the gripper can be remotely displaced by an external magnetic field.  ... 
doi:10.1002/adma.201707035 pmid:29736928 fatcat:ysjvdzllnneirolc6hmkxc5k2e
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