In this paper, a neural networks (NNs) enhanced telerobot control system is designed and tested on a Baxter robot. Guaranteed performance of the telerobot control system is achieved at both kinematic and dynamic levels. At kinematic level, automatic ...
This paper presents a haptic assistance strategy for teleoperation that makes a task and situation-specific compromise between improving tracking performance or human-machine interaction in partially structured environments via the scheduling of the ...
The international journal of medical robotics + computer assisted surgery : MRCAS
Jun 13, 2016
BACKGROUND: It is difficult for surgeons to exert appropriate forces during delicate operations due to lack of force feedback in robot-assisted minimally invasive surgery (RMIS). A 4-DOF surgical grasper with a modular wrist and 6-axis force sensing ...
IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society
Jun 9, 2016
The replacement of a missing hand by a prosthesis is one of the most fascinating challenges in rehabilitation engineering. State of art prostheses are curtailed by the physical features of the hand, like poor functionality and excessive weight. Here ...
The international journal of medical robotics + computer assisted surgery : MRCAS
Jun 8, 2016
BACKGROUND: Clinicians who frequently perform ultrasound scanning procedures often suffer from musculoskeletal disorders, arthritis, and myalgias. To minimize their occurrence and to assist clinicians, ultrasound scanning robots have been developed w...
Zeitschrift fur Gerontologie und Geriatrie
May 25, 2016
BACKGROUND: The development of social assistive robots is an approach with the intention of preventing and detecting falls among seniors. There is a need for a relatively low-cost mobile robot with an arm and a gripper which is small enough to naviga...
BACKGROUND: Robot-assisted laparoscopic surgery offers several advantages compared with open surgery and conventional minimally invasive surgery. However, one issue that needs to be resolved is a collision between the robot arm and the assistant inst...
Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine
May 19, 2016
Over the last few decades, flexible steerable robotic needles for percutaneous intervention have been the subject of significant interest. However, there still remain issues related to (a) steering the needle's direction with less damage to surroundi...
The human hand's versatility allows for robust and flexible grasping. To obtain such efficiency, many robotic hands include human biomechanical features such as fingers having their two last joints mechanically coupled. Although such coupling enables...
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