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High mobility, maneuverability and obstacle surmounting capabilities are highly desirable features for rough-terrain locomotion systems. In past work, we examined kinetostatic optimization of candidate articulated leg-wheel subsystem designs (based on the four-bar mechanism) for enhancing locomotion capabilities of land-based vehicles. Our goal was to: (i) achieve the greatest motion-ranges between...
In this paper, we investigate the modulation of task space stiffness of mobile cable robots with elastic cables. The elasticity is introduced via springs connected in series with non-extensible cables. The benefit of such series elastic cables include tension control without using force sensors and tension redistribution. However, elasticity also reduces positioning accuracy and makes the system more...
The Smart Health paradigm has opened up immense possibilities for designing cyber-physical systems with integrated sensing and analysis for data-driven healthcare decision-making. Clinical motor-rehabilitation has traditionally tended to entail labor-intensive approaches with limited quantitative methods and numerous logistics deployment challenges. We believe such labor-intensive rehabilitation procedures...
Robotic Minimally Invasive Surgery, and the engendered computer-integration, offers unique opportunities for quantitative computer-based surgical-performance evaluation. In this work, we examine extension of traditional manipulative skill assessment, having deep roots in performance evaluation in manufacturing industries, for applicability to robotic surgical skill evaluation. This method relies on:...
Assessment of surgical skill, arising from the synthesis of the cognitive and sensorimotor capabilities of the surgeon, has predominantly been a subjective task. Development of quantitative metrics-of-performance with clinical relevance and other desirable characteristics (repeatability and stability) has always lagged behind. New opportunities for objective and automated assessment frameworks have...
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