A Variable Stiffness Robotic Probe for Soft Tissue Palpation

A modular soft manipulator with variable stiffness

This paper presents the design of a single module composing a modular soft variable stiffness manipulator for minimal access surgery. The module exploits flexible fluidic actuation for obtaining multi directional bending and elongation capabilities. A novel flexible crimped braided sheath is introduced in order to increase the performances of the flexible actuator. Granular jamming based stiffe...

Soft Robotic Haptic Interface with Variable Stiffness for Rehabilitation of Neurologically Impaired Hand Function

1 Bio-Inspired Mechatronics Laboratory, The Polytechnic School, Ira A. Fulton Schools of Engineering, Arizona State University, Mesa, AZ, United States, 2 Neural Control of Movement Laboratory, School of Biological Health Systems Engineering, Ira A. Fulton Schools of Engineering, Arizona State University, Tempe, AZ, United States, 3 Mechanical and Aerospace Engineering, University of Central Fl...

A general framework for automatic robotic palpation

Palpation process using elastography has been studied for malign tissue localization. This technique has been applied in ultrasound and magnetic resonance imaging modalities. However, the ultrasound features make it suitable for roboticassisted systems in real-time [1], [2], [3]. The basic principle of ultrasound elastography is based on quasi-static mechanic compression of a target tissue with...

Salient Features of Soft Tissue Examination Velocity during Manual Palpation

Design of a Variable Stiffness Soft Dexterous Gripper

This article presents the design of a variable stiffness, soft, three-fingered dexterous gripper. The gripper uses two designs of McKibben muscles. Extensor muscles that increase in length when pressurized are used to form the fingers of the gripper. Contractor muscles that decrease in length when pressurized are then used to apply forces to the fingers through tendons, which cause flexion and ...