Alex Gruebele — accepted AI-conference papers

2020

Design and Control of Roller Grasper V2 for In-Hand Manipulation

Shenli Yuan, Lin Shao, Connor L. Yako, Alex Gruebele, J. Kenneth Salisbury

IROS 2020poster

The ability to perform in-hand manipulation still remains an unsolved problem; having this capability would allow robots to perform sophisticated tasks requiring repositioning and reorienting of grasped objects. In this work, we present a novel non-anthropomorphic robot grasper with the ability to m…

Cited by 57 Source ↗Scholar ↗

2017

Design of a soft catheter for low-force and constrained surgery

Patrick Slade, Alex Gruebele, Zachary Hammond, Michael Raitor, Allison M. Okamura, Elliot W. Hawkes

IROS 2017poster

Surgeries involving interaction with soft tissue like the brain need to minimize shear and normal forces that can cause tissue damage or hemorrhage. Other surgeries require the ability to follow a complex, curved path, such as through an intestine or to a kidney stone. This paper presents a soft cat…

Cited by 52 Source ↗Scholar ↗