17 accepted papers
As the demand for three-dimensional operations grows, wall-climbing robots must traverse complex curved surfaces featuring discontinuous curvatures and abrupt transitions between planes, cylinders, and spheres. Traditional rigid structures often fail to maintain stable, conformal adhesion under such
Daily cleaning and maintenance of high-altitude pipes and curved surfaces in high-altitude buildings are high-risk tasks for human workers. Advanced robots are increasingly deployed to address such challenges to reduce risks. Currently, robots are widely used for cleaning buildings with flat walls,
Regular cleaning and maintenance of high-altitude pipes and curved surfaces on high-rise buildings are high-risk tasks for human workers due to the difficulty of working on curved planes. To address such challenge, automated robots are widely used for cleaning buildings with flat walls, but they can
This paper presents an intraoperatively iterative Hough transform (IHT) based in-plane hybrid control of extracorporeal ultrasound (US) guided magnetic catheterization for arterial intervention. One uniqueness lies in that both control and tracking of the arterial robotic ultrasound end-effector hav…
Wirelessly actuated magnetic microrobots are promising tools in medical applications due to their tiny sizes and attractive robotic properties. However, it remains a huge challenge to integrate sufficient functionalities in a limited volume. Microscopic natural phenomenon is a great reference for cu…
This paper proposes the concept design of a novel XY compliant parallel manipulator (CPM) with spatial configuration, which is beneficial to promote the performance of the XY CPM. Evolved from a planar configuration, a spatial compliant parallelogram flexure is devised as the basic module structure.…
Bioprinting is a promising fabrication technique to create medical devices for the human body in vivo or in vitro. However, the existing in-vivo bioprinting methods impose various prerequisites, such as a large incision on the human skin, to make the printing nozzle close to internal organs. Herein,
This paper presents the design of a new multi-arm robotic system with mobile magnetic actuation and extracorpo-real ultrasound guidance dedicated to magnetic catheterization. The kinematic model of the external mobile actuation arm (EMAA) and extracorporeal ultrasound-integrated tracking arm (EUTA)…
The flexure-based XYZ micropositioner with hybrid configuration has become more prevalent due to the characteristics of less mechanism decoupling and high motion precision. However, traditional mechanism design suffers from a large plane occupation with Z stage stacking, which leads to a low space-u…
This paper presents the design, fabrication, and testing of a novel magnetically actuated biaxial robot with compact structure and easy operation. For the first time, the untethered robot enables grasping, rotating, and transporting operations of the target object by integrating magnetic torque and
Microinjection of zebrafish larvae is one of the most common procedures in biomedical experiments. Majority of microinjection work of zebrafish larvae in the laboratory is operated manually. Manual operation is influenced by many factors, and it is difficult to maintain steady efficiency and high su
This letter proposes a new teleoperated robotic system with haptic feedback dedicated to biological microinjection. The system consists of a custom-built master device and a slave micromanipulator device. Microinjection task is conducted by the micromanipulator equipped with a microforce sensor. The
This paper proposes the design of a new robot end-effector based on compliant constant-force mechanism for robot-assisted manufacturing, such as polishing. One uniqueness of the proposed end-effector lies in that it offers a constant contact force without using a force sensor and controller. An indu…
This paper presents the design, analysis and testing of a novel three-degree-of-freedom (3-DOF) compliant parallel-kinematic active constant-force stage. The active constant-force property enables a large travel and constant driving property, which is enabled by introducing symmetrical bistable flex…
Cell microinjection plays an important role in genetics, transgenics, and other biomedical fields. As compared with manual cell microinjection and position-based robotic cell microinjection, force-assisted robotic cell microinjection can improve the success rate and survival rate of the injected cel…
This paper reports on a novel 3D-printed polymeric compliant constant-force buffering gripping mechanism. The motivation of this work is to develop a buffering gripping mechanism to avoid the damage of manipulated biological object induced by excessive displacement output. The presented zero-stiffne…
This paper presents the design of a flexure-based precision positioning micro-motion stage system with constant output force. The stage mechanism is devised using folded leaf flexure (FLF) to achieve positive-stiffness structure. Bistable beams are employed to design negative-stiffness structure by…