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Due to their small size and flexibility, fiber Bragg grating (FBG) sensors have been integrated into needle-sized continuum robots for shape estimation and force measurement. The challenge in extending previous shape and force sensing technologies to pre-curved continuum robots, such as concentric-tube robots, is that torsion information is essential for accurate shape estimation, and the force-strain...
This paper describes the design, control and implementation of a sensorized robotic platform for versatile rehabilitation of stroke patients living with lower extremity neuromuscular deficit. The proposed device is composed of a six-degree-of-freedom actuation mechanism with a large workspace for lower extremity rehabilitation regimens. With a small footprint, lightweight, and low-cost design and...
The increasing popularity of catheter-based ablation therapy in treating cardiac arrhythmia has motivated researchers to seek new techniques to improve the accuracy and efficiency of such procedures. After guiding the catheter through the vessels into the heart chambers, precise positioning of the catheter tip and consistent tool/tissue contact force are the two factors that greatly affect the ablation...
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