Zobrazeno 1 - 10
of 15
pro vyhledávání: '"Andrew L. Orekhov"'
Autor:
Giovanni Pittiglio, Andrew L. Orekhov, Tomas da Veiga, Simone Calò, James H. Chandler, Nabil Simaan, Pietro Valdastri
Publikováno v:
IEEE Robotics and Automation Letters. 8:3980-3987
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::c657fd8a7bfb4f323cbafa60eaeaf61a
https://doi.org/10.1109/lra.2023.3274431
https://doi.org/10.1109/lra.2023.3274431
Publikováno v:
IEEE Transactions on Robotics. :1-17
This paper considers a combination of actuation tendons and measurement strings to achieve accurate shape sensing and direct kinematics of continuum robots. Assuming general string routing, a methodical Lie group formulation for the shape sensing of
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::4574b21bbbf60fb540d340da391be0ae
https://doi.org/10.1109/tro.2022.3232273
https://doi.org/10.1109/tro.2022.3232273
Publikováno v:
2023 International Symposium on Medical Robotics (ISMR).
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::44ccd08de301656259955407f869b482
https://doi.org/10.1109/ismr57123.2023.10130175
https://doi.org/10.1109/ismr57123.2023.10130175
Publikováno v:
IEEE ASME Trans Mechatron
Continuum robots (CR) have been recently shown capable of micron-scale motion resolutions. Such motions are achieved through equilibrium modulation using indirect actuation for altering either internal preload forces or changing the cross-sectional s
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::d5b78998deb60c5a0811560bc97f9c94
https://pubmed.ncbi.nlm.nih.gov/34658616
https://pubmed.ncbi.nlm.nih.gov/34658616
Autor:
Nabil Simaan, Andrew L. Orekhov
Publikováno v:
IROS
Choosing a kinematic model for a continuum robot typically involves making a tradeoff between accuracy and computational complexity. One common modeling approach is to use the Cosserat rod equations, which have been shown to be accurate for many type
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::8dc7dd88c40dc00dc39e167c05ef993b
Publikováno v:
ICRA
Collaborative robots should ideally use low torque actuators for passive safety reasons. However, some applications require these collaborative robots to reach deep into confined spaces while assisting a human operator in physically demanding tasks.
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::b09d8f3a9826a510fd6c6ddf2ffde280
Autor:
Andrew L. Orekhov, Nabil Simaan
Publikováno v:
Journal of Mechanisms and Robotics. 11
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 modulation through the com
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::e106308bbf11ae2758f399739438e221
https://doi.org/10.1115/1.4043685
https://doi.org/10.1115/1.4043685
Autor:
Colette Abah, Nabil Simaan, Andrew L. Orekhov, Garrison L.H. Johnston, Peng Yin, Howie Choset
Publikováno v:
ICRA
In the future, human-robot interaction will include collaboration in close-quarters where the environment geometry is partially unknown. As a means for enabling such interaction, this paper presents a multi-modal sensor array capable of contact detec
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::39adb07db306c2db938a5e45a70fc98f
https://doi.org/10.1109/icra.2019.8793466
https://doi.org/10.1109/icra.2019.8793466
Publikováno v:
IEEE Robotics and Automation Letters. 1:828-835
In this letter, we present the design, kinematic analysis, model validation, and teleoperation of a miniature eight-degree-of-freedom (8-DOF) parallel continuum manipulator with a cable-driven grasper. Our motivation is to provide increased dexterity
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::675d859c6d7615843812922d713d6e49
https://doi.org/10.1109/lra.2016.2525720
https://doi.org/10.1109/lra.2016.2525720
The surgical paradigm of Minimally Invasive Surgery (MIS) has been a key driver to the adoption of robotic surgical assistance. Progress in the last three decades has led to a gradual transition from manual laparoscopic surgery with rigid instruments
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::a9a2f9b187db10ca4cb204e5e9072afb
https://doi.org/10.1142/9789813232266_0008
https://doi.org/10.1142/9789813232266_0008