7 accepted papers
Although rigid exoskeletons can strengthen human capabilities or provide full assistance to patients with disabilities, their rigidity may constrain natural movement, developing tissue damage in long-term usage. Soft and semi-soft exoskeletons and exosuits exhibit both compliance and comfort, and of
Upper limb impairments and weakness are com-mon post-stroke and with advanced aging. Rigid exoskeletons have been developed as a potential solution, but have had limited impact. In addition to user concerns about safety, their weight and appearance, the rigid attachment and typical anchoring methods…
Endovascular and endoscopic surgical procedures require micro-scale and meso-scale continuum robotic tools to navigate complex anatomical structures. In numerous studies, fiber Bragg grating (FBG) based shape sensing has been used for measuring the deflection of continuum robots on larger scales, bu
We present a modular sensing system to measure the deflection of a minimally invasive neurosurgical intracranial robot: MINIR-II. The MINIR-II robot is a tendon-driven continuum robot comprised of multiple spring backbone segments, which has been developed in our prior work. Due to the flexibility o
This paper proposes a novel gripper or end-effector named VARO-fi (VARiable Orientable fingers with translation), with the aim of obtaining human like prehensile manoeuvre such as, in-hand manipulation. The 4 fingered VARO-fi consists of 9 degrees of freedom and it can perform several in-hand manipu…
Developing grasping devices with the capabilities to carry out dexterous tasks similar to human hand are being studied for many decades. To this aim, mathematical analysis such as control of multi-fingered gripper, grasp synthesis algorithms, contact types and their interactions have been explicitly…
An increasing interest towards functionally independent and self-reconfigurable robots featured the research direction in the recent past. Such attention is well explained by the characteristics of flexibility and cost-effectiveness which distinguish these modular machines. This scenario framed the…