9 accepted papers
Side effects caused by excessive contact pressure such as discomfort and pressure sores are commonly complained by patients wearing orthoses. These problems leading to low patient compliance decrease the effectiveness of the device. To mitigate side effects, this study describes the design and fabri
Soft fingertips have shown significant adaptability for grasping a wide range of object shapes, thanks to elasticity. This ability can be enhanced to grasp soft, delicate objects by adding touch sensing. However, in these cases, the complete restraint and robustness of the grasps have proved to be c
In this letter, we propose benefiting from load readings at the base of a continuum appendage for real-time forward integration of Cosserat rod model with application in configuration and tip load estimation. The application of this method is successfully tested for stiffness imaging of a soft tissu
During abdominal palpation diagnosis, a medical practitioner would change the stiffness of their fingers in order to improve the detection of hard nodules or abnormalities in soft tissue to maximize the haptic information gain via tendons. Our recent experiments using a controllable stiffness roboti
To address the challenges with real-time accurate modeling of multisegment continuum manipulators in the presence of significant external and body loads, we introduce a novel series solution for variable-curvature Cosserat rod static and Lagrangian dynamic methods. By combining a modified Lagrange p
Robot-assisted guiding is gaining increased interest due to many applications involving moving in the noisy and low visibility environments. In such cases, haptic feedback is the most effective medium to communicate. In this letter, we focus on perturbation-based haptic feedback due to applications
We present a three-dimensional (3-D)-printable thermoactive scale jamming interface as a new way to control a continuum manipulator dexterity by taking inspiration from the helical arrangement of fish scales. A highly articulated helical interface is 3-D-printed with thermoactive functionally graded
The complexity of soft continuum manipulators with hybrid and tuneable structures poses a challenging task to achieve an inverse kinematics model which is both precise and computationally efficient for control and optimization purposes. In this paper, a new method based on the principle of virtual w
Haptic perception in biological systems not only depends on the environmental conditions, but also on the behavioral state and the internal impedance of the embodiment because proprioceptive sensors are embedded in the muscle and tendons used for actuation. A simple example of such a phenomenon can