This article presents a state-of-the-art survey on the robotic systems, sensors, actuators, and collaborative strategies for physical human-robot collaboration (pHRC). This article starts with an overview of some robotic systems with cutting-edge tec...
International journal of computer assisted radiology and surgery
Mar 12, 2021
PURPOSE: By integrating locally operated surgical assistant robots in a sterilized area, a surgeon can perform safe robotically assisted laparoscopic solo surgery while controlling a laparoscope-holding robot and a forceps robot. At present, there is...
A new hybrid actuated soft finger with active variable stiffness is proposed for the first time by integrating gas-driven and ribbon-driven mechanisms. By carefully coordinating the two mechanisms, the bending deformation and the stiffness modulation...
Advanced science (Weinheim, Baden-Wurttemberg, Germany)
Mar 2, 2021
Grasping and manipulation are fundamental ways for many creatures to interact with their environments. Different morphologies and grasping methods of "grippers" are highly evolved to adapt to harsh survival conditions. For example, human hands and bi...
IEEE transactions on bio-medical engineering
Feb 18, 2021
Robot-assisted minimally invasive surgical (MIS) techniques offer improved instrument precision and dexterity, reduced patient trauma and risk, and promise to lessen the skill gap among surgeons. These approaches are common in general surgery, urolog...
Soft robots have been extensively researched due to their flexible, deformable, and adaptive characteristics. However, compared to rigid robots, soft robots have issues in modeling, calibration, and control in that the innate characteristics of the s...
This article reports our study on a reduced adaptive fuzzy decoupling control for our lower limb exoskeleton system which typically is a multi-input-multi-output (MIMO) uncertain nonlinear system. To show the applicability and generality of the propo...
Soft robotics has applications in myriad fields from assistive wearables to autonomous exploration. Now, the portability and the performance of many devices are limited by their associated pneumatic energy source, requiring either large, heavy pressu...
Variable stiffness actuation has applications in a wide range of fields, including wearable haptics, soft robots, and minimally invasive surgical devices. There have been numerous design approaches to control and tune stiffness and rigidity; however,...
PURPOSE: To develop a deep learning (DL) system that can detect referable diabetic retinopathy (RDR) and vision-threatening diabetic retinopathy (VTDR) from images obtained on ultra-widefield scanning laser ophthalmoscope (UWF-SLO).
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