Search
CSV
RISDevelopment of a Novel 4-DOF Flexible Endoscopic Robot Using Cable-Driven Multisegment Continuum Mechanisms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents the design, analysis, and development of a novel four degrees of freedom (4-DOF) endoscopic robot with cable-driven multisegment flexible continuum mechanisms. The endoscopic robot is mainly composed ...
Development of a New Cable-Driven Planar Parallel Continuum Robot Using Compound Kinematic Calibration Method
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents the design, calibration, and development of a novel cable-driven planar parallel continuum robot (PCR). The PCR employs a novel drive unit, which is mainly composed of cables, guiding pulleys, and ...
Design of a Novel Tendon-Sheath-Driven Upper Limb Exoskeleton for Assisting Surgeon Performing Microlaryngoscopic Surgery
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Microlaryngoscopic surgery is a type of laryngeal surgery performed by surgeons using microsurgical instruments under the observation of a specially designed laryngoscope. While performing a microlaryngoscopic operation, ...
Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This article presents the design, development, and motion control of a novel flexible robotic laparoscope (FRL). The main structure of the FRL includes a two degrees-of-freedom (DOFs) continuum mechanism driven by two pairs ...
A Hybrid Method Combining Data-Driven and Model-Based Algorithms for External Force-Sensing and Haptics Control of Cable-Pulley-Driven Surgical Robotic Manipulator
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The implementation of the high-precision tracking control and external force-sensing ability of a manipulator is important for achieving refined surgical robot operation. In this paper, a hybrid method based on data-driven ...
Design of a Novel Flexible Robotic Laparoscope Using a Two DegreesofFreedom CableDriven Continuum Mechanism With Major Arc Notches
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This article presents the design, development, and motion control of a novel flexible robotic laparoscope (FRL). The main structure of the FRL includes a two degreesoffreedom (DOFs) continuum mechanism driven by two pairs ...
Implementation of Robotic Ankle–Foot Orthosis With an Impedance-Based Assist-as-Needed Control Strategy
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, a robotic ankle–foot orthosis (AFO) is developed for individuals with a paretic ankle, and an impedance-based assist-as-needed controller is designed for the robotic AFO to provide adaptive assistance. First, ...