7 accepted papers
Precise control of soft pneumatic actuators is impeded by significant nonlinearities, particularly large internal volume variations during actuation—a factor often overlooked in conventional modeling. This paper proposes an adaptive robust control (ARC) framework designed for high-performance, energ
Precise control of soft pneumatic actuators is impeded by significant nonlinearities, particularly large internal volume variations during actuation---a factor often overlooked in conventional modeling. This paper proposes an adaptive robust control (ARC) framework designed for high-performance, ene…
Supermicrosurgery requires exceptionally highprecision manipulation to perform anastomosis of microscopic vessels and nerves, often involving diameters between 0.3 mm and 0.8 mm. To achieve successful outcomes with robotic systems, it is critical to ensure the stable grasping and delicate manipulati…
Optimizing the initial angle of the shoulder’s base frame is crucial for defining the workspace and enhancing the manipulation performance of humanoid robotic arms. Previous studies primarily emphasized geometric analyses, neglecting dynamic factors, which limits their practical applicability. This
We develop a surgical forceps-driver and a haptic feedback master device that could be applied to a tele-operated microsurgical robotic system for peripheral nerve surgery. Considering that the neurological damage could occur to the peripheral nerve when an excessive force is applied to the nerve ti
We develop a miniature suction-gripper with the goal to realize the novel robotic surgical instrument that can grip slippery and flexible peripheral nerves. In developing the instrument, we place a priority on devising the method that can robustly grip the nerve bundles during the surgical operation…