Zobrazeno 1 - 10
of 262
pro vyhledávání: '"Simaan, Nabil"'
Haptic devices have shown to be valuable in supplementing surgical training, especially when providing haptic feedback based on user performance metrics such as wrench applied by the user on the tool. However, current 6-axis force/torque sensors are
Externí odkaz:
http://arxiv.org/abs/2410.03939
Autor:
Lawson, Jared, Veliky, Madison, Abah, Colette P., Dietrich, Mary S., Chitale, Rohan, Simaan, Nabil
Objective: The objective of this work is to introduce and demonstrate the effectiveness of a novel sensing modality for contact detection between an off-the-shelf aspiration catheter and a thrombus. Methods: A custom robotic actuator with a pressure
Externí odkaz:
http://arxiv.org/abs/2401.10804
Publikováno v:
ASME Journal of Mechanisms and Robotics. February 2024. 16(2): 021001
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 necessitates that collaborati
Externí odkaz:
http://arxiv.org/abs/2306.12971
Publikováno v:
2023 ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDTEC-CIE)
Balancing parallel robots throughout their workspace while avoiding the use of balancing masses and respecting design practicality constraints is difficult. Medical robots demand such compact and lightweight designs. This paper considers the difficul
Externí odkaz:
http://arxiv.org/abs/2306.13156
Publikováno v:
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Continuum robots suffer large deflections due to internal and external forces. Accurate modeling of their passive compliance is necessary for accurate environmental interaction, especially in scenarios where direct force sensing is not practical. Thi
Externí odkaz:
http://arxiv.org/abs/2306.13155
Small catheters undergo significant torsional deflections during endovascular interventions. A key challenge in enabling robot control of these catheters is the estimation of their bending planes. This paper considers approaches for estimating these
Externí odkaz:
http://arxiv.org/abs/2304.12165
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:
http://arxiv.org/abs/2212.12523
Autor:
Natarajan, Ramkumar, Johnston, Garrison L. H., Simaan, Nabil, Likhachev, Maxim, Choset, Howie
Robots often have to perform manipulation tasks in close proximity to people. As such, it is desirable to use a robot arm that has limited joint torques to not injure the nearby person and interacts with the environment to explore new possibilities f
Externí odkaz:
http://arxiv.org/abs/2210.08627
Autor:
Shihora, Neel, Simaan, Nabil
Publikováno v:
In Mechanism and Machine Theory 15 November 2024 203
Cricothyrotomy is a life-saving emergency intervention that secures an alternate airway route after a neck injury or obstruction. The procedure starts with identifying the correct location (the cricothyroid membrane) for creating an incision to inser
Externí odkaz:
http://arxiv.org/abs/2110.12078