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Venkatasubramanian Kalpathy Venkiteswaran

7 accepted papers

2023

A Magnetically-Actuated Coiling Soft Robot With Variable Stiffness

Peter Lloyd, Theodosia Lourdes Thomas, Venkatasubramanian Kalpathy Venkiteswaran, Giovanni Pittiglio, James Henry Chandler, Pietro Valdastri +1
RA-L 2023

Soft and flexible magnetic robots have gained significant attention in the past decade. These robots are fabricated using magnetically-active elastomers, are capable of large deformations, and are actuated remotely thus allowing for small robot size. This combination of properties is appealing to th

Cited by 21Source ↗Scholar ↗
2023

Concentric Tube-Inspired Magnetic Reconfiguration of Variable Stiffness Catheters for Needle Guidance

Michiel Richter, Venkatasubramanian Kalpathy Venkiteswaran, Sarthak Misra
RA-L 2023

Guiding catheters assist in delivering hazardous equipment such as needles through non-solid mediums likecavities and vasculature. Traditionally, metallic needles are passed through metallic guiding catheters, which are limited to linear paths or require anatomy-specific designs. Recently, variable

Cited by 4Source ↗Scholar ↗
2022

A Snake-Inspired Multi-Segmented Magnetic Soft Robot Towards Medical Applications

Chen Wang, Venkata Rithwick Puranam, Sarthak Misra, Venkatasubramanian Kalpathy Venkiteswaran
RA-L 2022

Magnetically-actuated soft robots have potential for medical application but require further innovation on functionality and biocompatibility. In this letter, a multi-segmented snake-inspired soft robot with dissolvable and biocompatible segments is designed. The actuation response under external ma

Cited by 49Source ↗Scholar ↗
2022

Ultrasound Tracking and Closed-Loop Control of a Magnetically-Actuated Biomimetic Soft Robot

Artur João Anjos de Oliveira, Jorge Batista, Sarthak Misra, Venkatasubramanian Kalpathy Venkiteswaran
IROS 2022poster

Small untethered soft robots have potential for diverse applications, particularly in constrained spaces where the use of a tethered device would be infeasible. Examples include biomedical applications such as brachytherapy, fine-needle biospy and micro-needle drug delivery. To advance soft robots t…

Cited by 7Source ↗Scholar ↗
2021

Multi-Point Orientation Control of Discretely-Magnetized Continuum Manipulators

Michiel Richter, Venkatasubramanian Kalpathy Venkiteswaran, Sarthak Misra
RA-L 2021

In the past decade, remote actuation through magnetic fields has been used for position and orientation control of continuum manipulators (CMs) with a single magnet at the distal tip. By leveraging multiple points of actuation along the length of the CM it is possible to achieve increasingly complex

Cited by 29Source ↗Scholar ↗
2020

Towards Gradient-Based Actuation of Magnetic Soft Robots Using a Six-Coil Electromagnetic System

Venkatasubramanian Kalpathy Venkiteswaran, Sarthak Misra
IROS 2020poster

Soft materials with embedded magnetic properties can be actuated in a contactless manner for dexterous motion in restricted and unstructured environments. Magnetic soft robots have been demonstrated to be capable of versatile and programmable untethered motion. However, magnetic soft robots reported…

Cited by 5Source ↗Scholar ↗
2019

Bio-Inspired Terrestrial Motion of Magnetic Soft Millirobots

Venkatasubramanian Kalpathy Venkiteswaran, Luis Fernando Pena Samaniego, Jakub Sikorski, Sarthak Misra
RA-L 2019

Magnetic soft robots have the combined advantages of contactless actuation, requiring no on-board power source, and having flexible bodies that can adapt to unstructured environments. In this study, four milli-scale soft robots are designed (Inchworm, Turtle, Quadruped, and Millipede) and their actu

Cited by 71Source ↗Scholar ↗