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Soft actuators in surgical robotics: a state-of-the-art review
Springer Science and Business Media LLC - - 2023
Hugo Rodrigue, Jongwoo Kim
Soft surgical robots represent a groundbreaking innovation in the field of medical technology. These robots utilize soft, deformable materials to navigate and interact with delicate structures inside the human body, such as organs and blood vessels, with enhanced safety. They have the potential to transform healthcare by expanding the capabilities of minimally invasive surgeries, targeted drug del...... hiện toàn bộ
Editorial
Springer Science and Business Media LLC - - 2022
Wan Kyun Chung
Dynamic performance of a series elastic actuator with variable stiffness logarithmic spiral spring
Springer Science and Business Media LLC - Tập 15 - Trang 275-287 - 2022
Wisam T. Abbood, Somer M. Nacy, George Youssef, Oday I. Abdullah
The present paper investigates a variable stiffness elastic actuator, which was adjusted using a special-purpose mechanism. A model was derived to obtain the response of the actuator. Concurrently, an experimental setup was designed and manufactured to validate the theoretical model. A novel control scheme is adopted to enhance the response through stiffness variation. Results showed that the time...... hiện toàn bộ
ZMP-based motion planning algorithm for kinematically redundant manipulator standing on the ground
Springer Science and Business Media LLC - Tập 8 - Trang 35-44 - 2014
Byung-Rok So, HwanTaek Ryu, Byung-Ju Yi
The human body can be modeled as a kinematically redundant manipulator which exploits “redundant degrees of freedom” to execute various motions in a suitable fashion. Differently from the typical kinematically redundant robots that are attached to the fixed ground, the zero moment point (ZMP) condition should be taken into account not to fall down. Thus, this paper investigates a motion planning a...... hiện toàn bộ
Genetic fuzzy-based method for training two independent robots to perform a cooperative task
Springer Science and Business Media LLC - Tập 14 Số 4 - Trang 535-548 - 2021
Andrew Barth, Yufeng Sun, Lin Zhang, Ou Ma
Multi-scale graph-transformer network for trajectory prediction of the autonomous vehicles
Springer Science and Business Media LLC - - 2022
Divya Singh, Rajeev Srivastava
The accurate trajectory prediction is a crucial task for the autonomous vehicles that help to plan and fast decision making capability of the system to reach their destination in the complex road scenario with abiding by the traffic rules. For this, autonomous vehicles should have more attention to their goal without affecting the other’s task and maintain their safety from road accidents. With th...... hiện toàn bộ
Development of an interactive game-based mirror image hand rehabilitation system
Springer Science and Business Media LLC - Tập 12 - Trang 149-157 - 2019
Sangjoon J. Kim, Sang Yun Han, Gi-Hun Yang, Jung Kim, Bummo Ahn
To develop a hand rehabilitation device, the patient-specific heterogeneity of physical ailments must be considered in the design process to provide optimized rehabilitation. In this paper, we suggest a low-cost customized manufacturing process of a hand rehabilitation system. We first extract the length and size of the fingers based on a CMOS camera system. Then, the mechanical components of the ...... hiện toàn bộ
Multi-robot mission planning using evolutionary computation with incremental task addition
Springer Science and Business Media LLC - Tập 14 - Trang 741-771 - 2021
Rahul Kala
Mission planning asks the robot to solve complex missions, requiring the robot to execute several actions such that a complex goal condition (called mission) is satisfied. The missions can be specified by using Linear Temporal Logic or any custom domain-specific language. Here, we consider service robots in the home or office environments with multiple users, each specifying a task that together m...... hiện toàn bộ
Correction to: Artificial intelligence with robotics for advanced manufacturing industry using robot-assisted mixed-integer programming model
Springer Science and Business Media LLC - - 2024
Huang Xiao, BalaAnand Muthu, Seifedine Kadry
Trajectory planning of a parallel manipulator based on kinematic transmission property
Springer Science and Business Media LLC - Tập 8 - Trang 129-139 - 2015
Sun’an Wang, Shenli Wu, Chenlong Kang, Xiaohu Li
In order to obtain smooth trajectory and real-time performance of micro-manipulation for micro-motion parallel manipulator, this paper presents a new smooth trajectory planning based on the kinematic transmission property. Under the requirement of high tracking precision, seven-degree B-spline is adopted to interpolate poses of the micro-motion parallel manipulator in Cartesian space, which will m...... hiện toàn bộ
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