15 accepted papers
This paper presents a portable, cable-driven upper-limb rehabilitation robot designed for home-based activities of daily living (ADLs). The proposed robot is intended to assist hemiplegia patients with ADL-based rehabilitation, such as drinking water from a cup, in home settings. The robot features
Force feedback is essential for safe endovascular teleoperation, yet typically constrained by complex sensor integration. This article presents a compact active haptic interface system designed for robotic catheterization. Leveraging the intrinsic proprioception of a Permanent Magnet Synchronous Mot
Vascular interventional surgery (VIS) robots still face limitations in enhancing treatment quality. The primary challenges come from the accurate morphology control and miniaturization of the distal instruments. To address these issues, a novel 4 degrees of freedom steerable catheter robotic system
Home-based bilateral training using exoskeletons is considered an effective rehabilitation method to restore the normal motion function of stroke patients' limbs. However, due to the imbalance of limb muscle strength, muscle compensation of the functional upper limb will cause surface electromyograp
With the increasing research on underwater robots, the research on the stable motion mode and control strategy of underwater robots that consider practical constraints and the underwater disturbance from complex environment is still immature. There is a lack of quantitative analysis and comparison o
The magnetic dipole model exhibits significant deviations from real-world sensor data due to neglected material nonlinearities and environmental interference. This paper proposed a Physics-Informed Residual Network (PIRNet) that adaptively corrected simulated magnetic field data by integrating dipol
Underwater Object Detection (UOD) techniques are critical for Autonomous Underwater Vehicle (AUV), which must operate in harsh underwater environments characterized by low visibility while satisfying the lightweight and real-time constraints required for vehicle-mounted systems. Current methods typi
Cardiovascular and cerebrovascular diseases are significant health issues that threaten human life. They typically develop insidiously and progress gradually, but when an event occurs, the consequences can be severe. These conditions often manifest suddenly and acutely, necessitating prompt treatmen
A compact and lightweight hybrid aerial underwater vehicle(HAUV) named YingLong-I is proposed in this letter. The system primarily consists of an integrated coaxial counter-rotating propulsion module, a rudder-based air-water compatible attitude control module, and an attitude switching module, with
Robot-assisted vascular interventional surgery can isolate interventionists and X-ray radiation, and improve surgical accuracy. However, the leader side outside the operating room still has problems such as incomplete collection of operating information and unrealistic tactile feedback. The main obj…
Research on endovascular surgery robots (ESR) is continuously developing, because ESR can protect surgeons from radiation exposure. For designing an ESR manipulator, the main challenge is controlling the soft surgical tools and measuring the endovascular stress simultaneously. In this letter, a flex
Exoskeleton-assisted home-based rehabilitation plays a vital role in the upper limb rehabilitation of stroke patients in early stage. The surface electromyography (sEMG)-based control can facilitate friendly interactions between individuals and rehabilitation exoskeletons. The exoskeleton can also m
This paper describes a novel small-scale turtle-inspired Amphibious Spherical Robot (ASRobot) to accomplish exploration tasks in the restricted environment, such as amphibious areas and narrow underwater cave. A Legged, Multi-Vectored Water-Jet Composite Propulsion Mechanism (LMVWCPM) is designed wi…
To realize the underwater intervention, a Father-son Underwater Intervention Robotic System (FUIRS) is proposed in our laboratory. The FUIRS employs a novel biomimetic microrobot to realize underwater manipulation tasks. The main work of this paper is to describe the biomimetic microrobot which is i…
Prediction of interaction force between human and contacting environment has always been an important issue for such as robot control and clinical treatment. Although force/torque sensors can provide direct and precise measurement results, in many cases it is inconvenient to attach these sensors on…