13 accepted papers
This paper presents a mechanistic analysis of stiffness in cable-driven serpentine manipulators (CDSMs), incorporating both cable tension and cable stiffness. First, we derive an analytical stiffness model based on robot statics, identifying cable tension and stiffness as the dominant factors govern
This paper presents a mechanistic analysis of stiffness in cable-driven serpentine manipulators (CDSMs), incorporating both cable tension and cable stiffness. First, we derive an analytical stiffness model based on robot statics, identifying cable tension and stiffness as the dominant factors govern…
As a critical branch of robotics, mobile platforms have seen extensive applications in industrial automation, social services, and military industry sectors in recent years. However, conventional wheeled platforms exhibit limited obstacle-crossing capability, while legged robots, despite superior te
Traditional cable-driven parallel robots (T-CDPRs) typically employ multiple driving cables extending from fixed anchor points to connect with the end-effector. Once assembled, the anchor positions and the wrench feasible workspace of the CDPR are fixed and cannot be readily modified. This paper pre
Large language models (LLMs) are widely used, but they often generate subtle factual errors, especially in long-form text. These errors are fatal in some specialized domains such as medicine. Existing fact-checking with grounding documents methods face two main challenges: (1) they struggle to under…
Cable-driven continuum manipulators exhibit high flexibility and dexterity, leading to their increased popularity in recent years. Friction analysis is a crucial problem for these manipulators. Previous research has introduced friction models that are applicable to dynamic states where the direction
Cable-driven parallel robots (CDPRs) are now widely used in tasks such as filming and inspection due to their large workspace. Compared to unmanned aerial vehicles (UAVs), there's no need to navigate or position indoors for CDPRs, and CDPRs have lower noise levels and longer endurance. Therefore, th
Scene text image super-resolution has significantly improved the accuracy of scene text recognition. However, many existing methods emphasize performance over efficiency and ignore the practical need for lightweight solutions in deployment scenarios. Faced with the issues, our work proposes an effic…
Various neuroimaging techniques and data analytics have been established in studying brain-wide activations in human. However, a significant impediment in studying brain-wide activations have been limited in its temporal resolutions, due to either slow response times in the signal of interest or amo…
Cable-driven continuum manipulators have gained considerable attention due to their high dexterity and inherent structural compliance, making them a popular research topic. However, previous studies have overlooked the kinetostatics of these manipulators, which can result in a multi-solution problem…
For traditional cable-driven parallel robots (CD-PRs), changing the workspace is relatively difficult, which needs to reconfigure the anchor points and the external frame. The main reason is that the winch is separated from the moving platform, and a series of pulleys are applied to guide the drivin…
Continuum manipulators have shown a wide range of applications due to their inherent compliance and dexterity. At present, the cross-sectional dimension of these manipulators is often kept constant, which facilitates the design, fabrication and modeling processes. The famous piecewise-constant-curva…
Continuum robots have been attracting extensive attentions in the past few years due to their potential applications in minimally invasive surgery (MIS). Force sensing is critical in surgical applications which require palpation or deal with delicate structures. This letter addresses on the force se