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Background Estimating energy expenditure with indirect calorimetry requires expensive equipment and several minutes of data collection for each condition of interest. While several methods estimate energy expenditure using correlation to data from wearable sensors, such as heart rate monitors or accelerometers, their accuracy has not been evaluated for activity conditions or subjects not included...
Surgeries involving interaction with soft tissue like the brain need to minimize shear and normal forces that can cause tissue damage or hemorrhage. Other surgeries require the ability to follow a complex, curved path, such as through an intestine or to a kidney stone. This paper presents a soft catheter that has the potential to aid in these challenging cases. The soft catheter is capable of apical...
Robots performing manipulation tasks must operate under uncertainty about both their pose and the dynamics of the system. In order to remain robust to modeling error and shifts in payload dynamics, agents must simultaneously perform estimation and control tasks. However, the optimal estimation actions are often not the optimal actions for accomplishing the control tasks, and thus agents trade between...
In this paper, we describe the design and implementation of a low-cost, open-source prosthetic hand that enables both motor control and sensory feedback for people with transradial amputations. We integrate electromyographic pattern recognition for motor control along with contact reflexes and sensory substitution to provide feedback to the user. Compliant joints allow for robustness to impacts. The...
This paper presents the Tact hand—an anthropomorphic, open-source, myoelectric prosthetic hand that was designed for use by people with transradial amputations in developing countries. This hand matches or exceeds the performance of other state-of-the-art myoelectric prosthetic hands, but costs two orders of magnitude less ($250) and is easy to manufacture with a 3D printer and off-the-shelf parts...
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