The aim of this study is to develop a magnetic resonance imaging (MRI) compatible robot to enable image guided interventions to enhance accuracy and reduce invasiveness. MRI provides exquisite soft tissue images, and fluid power is an enabler of its use in surgery. Its advantages are not completely explored yet because traditional electromagnetic actuators fail or cause artifacts in intense mag...

Continuum robots are good candidates for shape morphing. However, due to the coupled problem between kinematics and statics, inverse of continuum is highly nonlinear, posing a challenging real-time applications. This paper presents simplified approach solving flexible panel robot efficiently. Through an experiment, two approximate relationships discovered. First, arc length middle backbone can ...

gait rehabilitation using body weight support on a treadmill is a recommended rehabilitation technique for neurological injuries, such as spinal cord injury. in this paper, a new robotic orthosis is presented for treadmill training. in the presented design the criteria such as low inertia of robot components, backdrivability, high safety and degrees of freedom based on human walking are conside...

Continuum robots are able of in-situ inspection tasks in cluttered environments and narrow passages, where conventional human operators cannot intervene. However, such intervention often requires the robot to interact with environment, low stiffness payload continuum limits their capabilities. In this letter, we propose a paradigm shift from individual multiple robots, which can reach target en...

This paper presents a multi-axis force/torque sensor based on simply-supported beam and optoelectronic technology. The sensor's main advantages are: (1) Low power consumption; (2) low-level noise in comparison with conventional methods of force sensing (e.g., using strain gauges); (3) the ability to be embedded into different mechanical structures; (4) miniaturisation; (5) simple manufacture an...

Dexterous continuum surgical robots are of increasing interest to researchers given their ability to reach remote areas within the body by moving in highly curved paths. Knowing the configuration of the robot at any time is important for precise control and accurate performance during surgical procedures. Although kinematic models have been developed for some of these robots, these models are o...

Tentacle manipulators produce changes of configuration using a continuous backbone made of sections which bend. In this paper, a new project for controling a continuum robot is presented. The robotic structure uses cables to transmit forces to the elements of the arm. This new robot is actuated by stepper motors. Due to the difficulties of using distributed sensors along the manipulator structu...

A companion paper has addressed the problem of designing controllers that induce exponentially stable, periodic walking motions at a given fixed walking rate for a planar, biped robot with one degree of underactuation in single support. This note provides two additional control features: (i) the ability to compose such controllers in order to obtain walking at several discrete walking rates wit...