OBJECTIVE: Hill-type muscle models are widely employed in simulations of human movement. Yet, the parameters underlying these models are difficult or impossible to measure in vivo. Prior studies demonstrate that Hill-type muscle parameters are encode...
In this paper, a novel continuum robotic dolphin termed 'ConRoDolI' is proposed and developed. The biomimetic robot features dual tendon driving continuum mechanisms that are utilized to replicate the twisting and bending motions of the dolphin's cau...
Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
34892249
The rapid development of additive manufacturing technology makes it possible to fabricate a patient-specific surgical robot in a short time. To simplify the assembly process of the printed robotic system, compliant-joint-based monolithic structures a...
Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
34891530
Palpation is a clinical diagnosis method utilized by physicians to acquire valuable information about the pathological condition of an organ using the sense of touch. This method, however, is subjective. The accuracy depends on the physician's experi...
The international journal of medical robotics + computer assisted surgery : MRCAS
34962681
BACKGROUND: Control of the joints of robotic surgical instruments is difficult owing to hysteresis, and tendon twisting due to axial rotation of surgical tools also causes hysteresis. Therefore, a new mechanism is needed to prevent tendon twisting.
IEEE transactions on bio-medical engineering
34818187
Biomechanical and clinical gait research observes muscles and tendons in limbs to study their functions and behaviour. Therefore, movements of distinct anatomical landmarks, such as muscle-tendon junctions, are frequently measured. We propose a relia...
Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
36086243
Researchers have adopted mechanistic and learning-based approaches for tip force estimation on soft robotic catheters. Typically the literature attributes the mech-anistic methods with more accuracy while indicating the learning-based methods outpace...
Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
36085721
Minimally invasive instruments are inserted per-cutaneously and are steered toward the desired anatomy. The low stiffness of instruments is an advantage; however, once the target is reached, the instrument usually is required to transmit force to the...
We present a novel soft exoskeleton providing active support for hand closing and opening. The main novelty is a different tendon routing, folded laterally on both sides of the hand, and adding clenching forces when the exoskeleton is activated. It i...
Prestressed girders reduce cracking and allow for long spans, but their construction requires complex equipment and strict quality control. Their accurate design depends on a precise knowledge of tensioning force and stresses, as well as monitoring t...