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Steerable catheters are utilized frequently in minimally invasive cardiac interventions. Despite their extensive applications, the properties of the steerable section of such devices have not been thoroughly investigated. In this paper, the kinematics of the distal shaft of the catheters is modeled, and the catheter's reachable workspace and its singular configurations are studied. The modeling is...
This paper presents a kinematic and dynamic model to predict the arm posture when high velocity or acceleration motion of the end-effector (hand) is required. Two measures, directional dynamic dexterity (DDD) and directional kinematic dexterity (DKD) are defined and applied to predict the human arm posture. It is shown that DDD predicts the postures in which the hand has a high acceleration and DKD...
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