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Breast biopsy guided by imaging techniques such as ultrasound is widely used to evaluate suspicious masses within the breast. Currently, ultrasound imaging does not allow live guidance during breast biopsy. The current procedure allows the physician to determine the location and extent of a tumor in the patient breast before inserting the needle. However, there are several problems with this procedure:...
We propose a new control technique for force control on unknown environments. In particular, the proposed approach overcomes the need for precise estimation of environment parameters, which are needed in many system identification-based force control approaches. This framework uses an artificial neural network (ANN)-based proportional-integral (PI)-gain scheduling direct force controller to track...
The goal of our research is to develop a novel control framework to provide robotic assistance for rehabilitation of the hemiparetic upper extremity after stroke. The control framework is designed to provide an optimal time-varying assistive force to stroke patients in varying physical and environmental conditions. An artificial neural network (ANN) based proportional-integral (PI) gain scheduling...
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