3 accepted papers
This paper investigates position control and force estimation for a hydraulic folded pouch actuator. First, experimental platforms are designed to characterize the actuator and the results show two key properties: (i) angular hysteresis when the motion direction reverses, and (ii) strong nonlinearit…
This paper presents a soft Cable-Driven Parallel Robot for gastrointestinal surgery. The robot consists of an inflatable scaffold and a hydraulic variable stiffness end-effector and features six degrees of freedom. Experiments involving passage through a colon model, knot tying, and retraction have
Minimally Invasive Surgery has advanced surgical practice, yet early-stage gastrointestinal cancer treatment remains challenging. Endoscopic Submucosal Dissection offers a solution but faces maneuverability constraints in complex anatomical environments. This paper presents a novel inflatable soft r