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The main challenge that we face when applying functional electrical stimulation (FES) to paralyzed lower limbs is to avoid hyperstimulation and to defer the muscular fatigue as much as possible. FES is used to excite paralyzed muscles that are under lesions and consequently no more controlled by paraplegic patients. We aimed in this study to compute the needed patterns stimulation necessary to perform...
This paper presents the performance of a needle insertion teleoperated system with haptic feedback. Through a haptic device, the surgeon tele-operates the surgical needle, fixed on the remote robot that may evolve in free space or in contact. In free space, the surgeon feels the motion of the robot. During the needle insertion, the puncture of the tissue involves an abrupt and large change in the...
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