6 accepted papers
Bronchoscopy is a critical procedure for diagnosing and treating pulmonary diseases, but its safe and effective execution demands substantial operator training. Insufficient experience is associated with higher complication rates, including bleeding, pneumothorax, and bronchospasm. Existing assessme…
Hysteresis in the tendons driving continuum robots is frequently regarded as a nuisance and a problem that is best avoided. Some prior work seeks to ameliorate the effects of hysteresis through the selection of materials. Others propose models of hysteresis to compensate for their effects. In this w
This paper addresses the problem of choosing a sparse subset of measurements for quick calibration parameter estimation. A standard solution to this is selecting a measurement only if its utility—the difference between posterior (with the measurement) and prior information (without the measurement)—…
Concentric Tube Robots (CTRs) are a type of continuum robot capable of manipulating objects in restricted spaces and following smooth trajectories. CTRs are ideal instruments for minimally invasive surgeries. Accurate control of CTR's motion in presence of contact with tissue and external forces wil
We present a method of extrinsic calibration for a system of multiple inertial measurement units (IMUs) that estimates the relative pose of each IMU on a rigid body using only measurements from the IMUs themselves, without the need to prescribe the trajectory. Our method is based on solving a nonlin
We present a passive mechanism for quadrotor vehicles and other hover-capable aerial robots based on the cam-follower. This mechanism has two mating parts, one attached to the quadrotor and the other attached to a payload. These two parts are joined by a toggle switch—push to connect, push to discon…