6 accepted papers
Small-scale robots are rapidly advancing in diverse fields such as industry and medicine. To be effective, they must be capable of accessing narrow, tortuous, or otherwise hard-to-reach environments and performing precise manipulation. This paper presents a vision-based closed-loop motion control sc…
Augmented Reality (AR)-assisted telesurgery has proven its effectiveness in enhancing situational awareness for clinician-side teleoperators. However, for patient-side surgical assistants, existing systems lack intuitive and safe interaction strategies to mitigate preoperative infection risks and in
Continuum robots are widely used in the medical scenarios due to their dexterity and flexibility. However, precise end-to-end control of continuum robots remains challenging, limited by the kinematic or kinetostatic accuracy and no enough space for additional sensors configurations. This paper propo
Traditional interaction perception of parallel robots relies on a six-dimensional force sensor for contact sensing at their distal end. However, the sensor body occupies the space of moving platform and also increases the load on the robot actuations. To enable both minimization and embodied intelli…
Tip force sensing for cable-driven continuum robots are vital to provide the force information for safe and reliable human-robot interaction. However, traditional triaxial force sensors usually have a complicated structure occupying its inner lumen, without enough space for additional instrumental t…
Cable-driven continuum manipulators have shown excellent benefits to work for endoluminal intervention. Demand of small diameter for confined anatomy limits the usage of multiple actuations, leading to limited DOFs and bending shapes. To address this problem, this letter proposes a multi-contact-aid