Advanced materials (Deerfield Beach, Fla.)
Dec 21, 2020
Biological systems can perform complex tasks with high compliance levels. This makes them a great source of inspiration for soft robotics. Indeed, the union of these fields has brought about bioinspired soft robotics, with hundreds of publications on...
IEEE transactions on bio-medical engineering
Dec 21, 2020
OBJECTIVE: Surgical graspers must be safe, not to damage tissue, and effective, to establish a stable contact for operation. For conventional rigid graspers, these requirements are conflicting and tissue damage is often induced. We thus proposed nove...
ACS applied materials & interfaces
Dec 7, 2020
Liquid-crystal elastomer (LCE)-based soft robots and devices via an electrothermal effect under a low driving voltage have attracted a great deal of attention for their ability on generating larger stress, reversible deformation, and versatile actuat...
Soft robotics
Dec 3, 2020
This article presents the design, fabrication, modeling, and preliminary tests of a bloodworm-inspired soft gripper for universal grasping. The gripper was designed and fabricated based on a toy called water snake wiggly (WSW). The toroidal WSW can e...
IEEE transactions on neural networks and learning systems
Nov 30, 2020
This article designs and analyzes a recurrent neural network (RNN) for the visual servoing of a flexible surgical endoscope. The flexible surgical endoscope is based on a commercially available UR5 robot with a flexible endoscope attached as an end-e...
Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine
Nov 25, 2020
Current surgical grippers rely on friction grip, where normal loads (i.e. pinch forces) are translated into friction forces. Operating errors with surgical grippers are often force-related, including tissue slipping out of the gripper because of too ...
Soft robotics
Nov 20, 2020
Inspired by natural swarms such as bees and ants, various types of swarm robotic systems have been developed to work together to complete tasks that transcend individual capabilities. Autonomous robots controlled by collective algorithm and colloidal...
Soft robotics
Nov 20, 2020
Owing to their compliance, lightweight, and high force density characteristics, pneumatic actuation systems have been widely implemented in various soft robots. However, pneumatic actuation systems exhibit low efficiency, poor control performance, an...
The international journal of medical robotics + computer assisted surgery : MRCAS
Nov 17, 2020
BACKGROUND: Studies have been conducted on slave-specific master devices with a similar kinematic structure to the slave to enhance intuitiveness. However, for the four-degrees of freedom (DOFs) slave of a flexible endoscopic surgery robot, only four...
Biomedical microdevices
Nov 17, 2020
In order to improve the reliability, safety and whole digestive applicability of the gastrointestinal microrobot (GMR), a novel inchworm-like GMR is proposed in this paper. The expanding mechanism of the robot adopts an overlapping expanding arm stru...