Interactions with an object during within-hand manipulation (WIHM) constitutes an assortment of gripping, sliding, and pivoting actions. In addition to manipulation benefits, the re-orientation and motion of the objects within-the-hand also provides ...
We observe that the Atlantic razor clam (Ensis directus) burrows out of sand rapidly by simply extending and contracting its muscular foot. This is notably different from its well-known downward burrowing strategy or the dual-anchor mechanism, where ...
Remora suckerfish can attach to a wide diversity of marine hosts, however, their detachment mechanism remains poorly understood. Through analyzing high-speed videos, we found that the detachment of the live remora (Echeneis naucrates) is a rapid beha...
Many crawling organisms such as caterpillars and worms use a method of movement in which two or more anchor points alternately push and pull the body forward at a constant frequency. In this paper we present a milliscale push-pull robot which is capa...
Many creatures have the ability to traverse challenging environments by using their active muscles with anisotropic structures as the motors in a highly coordinated fashion. However, most artificial robots require multiple independently activated act...
Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine
33234016
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 ...
Emerging applications of autonomous robots requiring stability and reliability cannot afford component failure to achieve operational objectives. Hence, identification and countermeasure of a fault is of utmost importance in mechatronics community. T...
Passive movement is an important mean of rehabilitation for stroke survivors in the early stage or with greater paralysis. The upper extremity robot is required to assist therapists with passive movement during clinical rehabilitation, while customiz...
Frictional sliding between patterned surfaces is of fundamental and practical importance in the haptic engineering of soft materials. In emerging applications such as remote surgery and soft robotics, thin fluid films between solid surfaces lead to a...
This paper shows the design and modeling of an end effector with a bidirectional telescopic mechanism to allow a surgical assistant robot to hold and handle surgical instruments. It also presents a force-free control algorithm for the direct teaching...