Abstract: This paper presents a kinetostatic modeling framework for flexible cannulas (concentric tubing robots) subject to tip loads. Unlike existing methods that allow fast computation of the beam tip ...

Abstract: This paper presents a novel and unified analytic formulation for kinematics, statics, and shape restoration of multiple-backbone continuum robots. These robots achieve actuation redundancy by ...

Abstract: The precision of parallel robots is limited by backlash in their joints. This paper investigates algorithms for designing inexpensive planar parallel robots with prescribed backlash-free workspace. ...

Abstract: This paper presents an optimal path planning method of steerable electrode arrays for robot-assisted cochlear implant surgery. In this paper, the authors present a novel design of steerable ...

Abstract: Microstenting is a potentially revolutionary approach to surgical treatment of microvascular retinal disorders that do not resolve using pharmaceutical treatment. This article presents a novel ...