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Minimally Invasive Surgery (MIS) can reduce iatrogenic injury and decrease the possibility of surgical complications. This paper presents a novel flexible and bendable endoscopic device, “Roboscope”, which delivers two instruments, two miniature scanning fiber endoscopes, and a suction/irrigation port to the operation site through a single portal. Compared with existing bendable and steerable robotic...
In order to provide anthropomorphic robotic hands with adequate frictional contact and proper tactile sensing during dexterous manipulation it is necessary to develop artificial skin that is easy-to-implement and compatible with existing designs of robotic hands. In this paper, we detail the design of a set of artificial skin pads that can accommodate a complex surface topology for a variety of robotic...
In order to further understand what physiological characteristics make a human hand irreplaceable for many dexterous tasks, it is necessary to develop artificial joints that are anatomically correct while sharing similar dynamic features. In this paper, we address the problem of designing a two degree of freedom metacarpophalangeal (MCP) joint of an index finger. The artificial MCP joint is composed...
If a passively actuated physical human-robot interaction (pHRI) device could produce the transparency and controllability of an active device, the safety standard of pHRI could dramatically improve. This is critical since pHRI devices are being developed for rehabilitation or assistance where the user may not be able to provide full strength or speed to counteract accidental movements caused by a...
The paper briefly discusses the history of artificial limbs and describes present prosthetics, exoskeletons and robotic rehabilitation. The challenges in prosthetics and exoskeletons - which include electromechanical implementation, neural control signals and extraction of intent, and clinical interface - are also discussed. In the future, the need for assistive robotic devices is predicted to increase
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