Abstract: This paper addresses the design of wire actuated steerable electrode arrays for optimal insertions in cochlear implant surgery. These underactuated electrode arrays are treated as continuum robots which have an embedded ...

Abstract: Parallel robots have been primarily investigated as potential mechanisms with stiffness modulation capabilities through the use of actuation redundancy to change internal preload. This paper investigates real-time stiffness ...

Abstract: Recently, a new concept for continuum robots capable of producing macro-scale and micro-scale motion has been presented. These robots achieve their multi-scale motion capabilities by coupling direct actuation of push-pull ...

Abstract: Collaborative robots must simultaneously be safe enough to operate in close proximity to human operators and powerful enough to assist users in industrial tasks such as lifting heavy equipment. The requirement for safety ...

Abstract: Wire-actuated/tendon-actuated mechanisms suffer from discontinuity in their performance measures stemming from the limitation of unilateral actuation due to tendon actuation (pull-only actuation). Using traditional ...

Abstract: This paper proposes an approach for using force-controlled exploration data to update and register an a priori virtual fixture geometry to a corresponding deformed and displaced physical environment. An approach for safe ...