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06/22/2023
Design Considerations for 3RRR Parallel Robots with Lightweight, Approximate Static-Balancing
Balancing parallel robots throughout their workspace while avoiding the ...
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06/22/2023
Task and Configuration Space Compliance of Continuum Robots via Lie Group and Modal Shape Formulations
Continuum robots suffer large deflections due to internal and external f...
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06/22/2023
Design Considerations and Robustness to Parameter Uncertainty in Wire-Wrapped Cam Mechanisms
Collaborative robots must simultaneously be safe enough to operate in cl...
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04/24/2023
Model-Based Pose Estimation of Steerable Catheters under Bi-Plane Image Feedback
Small catheters undergo significant torsional deflections during endovas...
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12/23/2022
Lie Group Formulation and Sensitivity Analysis for Shape Sensing of Variable Curvature Continuum Robots with General String Encoder Routing
This paper considers a combination of actuation tendons and measurement ...
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10/16/2022
Torque-Limited Manipulation Planning through Contact by Interleaving Graph Search and Trajectory Optimization
Robots often have to perform manipulation tasks in close proximity to pe...
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10/22/2021
Feasibility of Remote Landmark Identification for Cricothyrotomy Using Robotic Palpation
Cricothyrotomy is a life-saving emergency intervention that secures an a...
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08/11/2020
Kinematic Modeling and Compliance Modulation of Redundant Manipulators Under Bracing Constraints
Collaborative robots should ideally use low torque actuators for passive...
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08/03/2020
Solving Cosserat Rod Models via Collocation and the Magnus Expansion
Choosing a kinematic model for a continuum robot typically involves maki...
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06/27/2019
Modal-based Kinematics and Contact Detection of Soft Robots
Soft robots offer an alternative approach to manipulate inside the const...
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06/11/2019
Snake-Like Robots for Minimally Invasive, Single Port, and Intraluminal Surgeries
The surgical paradigm of Minimally Invasive Surgery (MIS) has been a key...
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06/09/2019
Simplified Kinematics of Continuum Robot Equilibrium Modulation via Moment Coupling Effects and Model Calibration
Recently, a new concept for continuum robots capable of producing macro-...
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07/10/2018