18 accepted papers
The shopping service robot (SSR) is designed to offer a superior shopping experience through its continuous target following and companion services. However, the SSR encounters difficulties in complex environments, including visual occlusions and spatial constraints in narrow aisles. To address thes
Wireless Electromagnetic Tracking (WEMT) enables non-line-of-sight (NLoS) pose estimation in robotics but faces accuracy limitations from restricted operational range and environmental interference. This paper proposes a WEMT-inertial fusion system enhanced by a learning-based Interacting Multiple M
The ability to follow people can benefit the human-robot interaction of mobile robots. This work proposes a hybrid human tracking system for human following robots, integrating sensor fusion of Ultra-Wideband (UWB) and monocular visual positioning to enhance tracking accuracy and precision. At the s…
This work presents the automatic design of additively manufacturable serially linked one degree of freedom manipulators whose end effectors move along individually prescribed 2D trajectories. The kinematic coupling of the links is done by using gear stages consisting of spur gears and toothed belt g
This contribution demonstrates the usage of fold-based joints to create a novel 3 DoF 3R(RPaR) parallel robot design. Multiple folding mechanisms are introduced, fulfilling the function of revolute, prismatic, and spherical joints. Folding mechanisms are here tested regarding their applicability in…
Tendon-driven continuum robots are widely used in different engineering disciplines due to their simple structure and high flexibility. The typical structure of a tendon-driven continuum robot usually contains a series of identical compliant joints in its backbone to achieve large-deflection bending
In this article, a novel 3D printed knee model for detecting possible errors in the planning and treatment of total knee replacement surgery is presented. This method is a first step towards automation of prosthesis placement. Thanks to the mathematically computed four-bar mechanism, it is now possi…
The increasing frequency of robot interactions with humans and complex environments motivates the design and control of soft robotic systems made of compliant structures. Additive manufacturing processes enable the creation of new robotic systems and mechanisms that gain their compliance extrinsical…
Robotic three-dimensional (3D) ultrasound (US) imaging has been employed to overcome the drawbacks of traditional US examinations, such as high inter-operator variability and lack of repeatability. However, object movement remains a challenge as unexpected motion decreases the quality of the 3D comp…
Currently, laparoscopic surgery systems are adapted for a large number of indications and patients and are therefore not optimized for one specific case. The challenge to create systems with an optimized kinematic structure for a specific patient regarding reachability and manipulability in the need…
In this paper, we present a novel method for achieving automatic design of compliant surgical forceps with adaptive grasping functions. Compliant forceps are much easier to assemble and sterilize than conventional rigid-joint forceps, hence their use is spreading from traditional open surgery to rob
Although the biologically flexible flippers of the cormorant (Phalacrocorax) are believed to be one of the most important features to achieve optimal swimming performance before take off, studies on a deformable bionic flipper with a non-uniformly distributed stiffness are rare. In this letter, to g
3D printing in medical technology is mainly used to produce customized devices for surgical planning or surgical guides and templates. However, for laparoscopic systems, 3D printing is hardly used. A challenge is the transmission of the necessary forces required in laparoscopic surgery.We designed a…
The particularly compliant and adaptable properties of soft robotic systems and structures offer enormous potential for use in unpredictable environments as well as for safe and interactive work in human environments. Therefore, new approaches for the design of soft robotic systems are constantly be…
Bladder cancer constitutes the thirteenth most common cause of cancer death worldwide. Transurethral resection of bladder tumors (TURBT) is the established treatment procedure of non-muscle invasive bladder cancer. However, current techniques for this procedure represent several inadequacies such as…
With the patented method of Navigated Control active surgical instruments can be stopped before they endanger delicate and sensitive tissue such as nerves and vessels. To this end, a stereo camera tracks the positions of instrument and patient, a computer then measures the distance to the patient st…
The use of flexure hinges offers significant benefits compared to conventional revolute joints, such as the use for compact monolithic designs of flexural structures, no friction losses and reduced assembly and manufacturing costs. The combination of this design concept with additive manufacturing (…
Since the minimally invasive surgery has significant benefits for the patient, special equipment and techniques are constantly enhanced in this relatively new surgical field, so that more challenging surgical applications can be achieved. Thereby, the major aim is to enable the surgeon to manipulate…