11 accepted papers
Stable and precise force contact is critical in human-robot interaction, typically requiring precise sensors and advanced algorithms. This paper presents a novel adjustable constant-force mechanism (CFM) serving as a force generator for massage robotic systems, aiming to reduce hardware costs and sy
Natural Orifice Transluminal Endoscopic Surgery (NOTES) holds great promise due to its ability to eliminate external incisions, reduce trauma, and accelerate recovery. However, the adoption of NOTES is hindered by the limited capabilities of existing instruments, particularly in achieving the requir
The parallel continuum mechanism offers distinct advantages in the design of surgical manipulators, including enhanced stiffness, improved precision, and a simplified structure compared to traditional Tendon-driven systems. Conventional kinematic models based on constant-curvature assumptions are of
Percutaneous puncture is the clinical standard for diagnosis and therapy of lung tumors. Needle placement accuracy and safety are of great significance but severely affected by respiration. In this letter, a unified admittance control method for accurate puncture and respiration following is propose
This paper proposes a novel, more computationally efficient method for optimizing robot excitation trajectories for dynamic parameter identification, emphasizing self-collision avoidance. This addresses the system identification challenges for getting high-quality training data associated with co-ma…
Predicting scene evolution conditioned on robotic actions is a vital technique in modeling robot manipulations. Previous studies have primarily focused on learning spatiotemporally continuous actions like Cartesian displacements, thus applying them to planar-pushing tasks. In this letter, we propose
Passive compensation has been proven to be effective in reducing gravitational joint loads and improving the output capability of mechanisms. Existing methods for passive compensation are not satisfactory in terms of mechanism complexity and implementation convenience, while cases with variable angu
This letter presents a miniature manipulator with variable stiffness towards minimally invasive transluminal endoscopic surgery, such as the endoscopic submucosal dissection (ESD). The manipulator comprises hollow modules with holes in the sidewall, compact with a 4 mm diameter, and dexterous with s
The reactor power and the coolant level in the nuclear plant are monitored via the reactor core detectors. Every 4 to 5 years, the detectors with high-level radiation need to be removed, which is time-consuming and hazardous for workers. To address this issue, this paper introduces a novel robotic s…
One of the promising solutions for drilling craniotomy is robot-assisted surgery with human guidance. The present study deals with a piecewise collaborative drilling task assisted by a robot while containing aligning and drilling. It can enable surgeons to complete the operation more efficiently and
Multi-Stud Tensioning Machine (MSTM) is a specialized equipment used to open/seal the cover of the Reactor Pressure Vessel (RPV) during nuclear power plant maintenance. The tensioning residual values of the 58 studs are monitored for procedure evaluation. It is time-consuming for human operators to