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Background
Due to its unique dexterity and safety, continuum manipulators have been widely used in small constrained environment. However, its flexibility also brings negative effects such as poor stiffness and low strength. This paper presents a novel variable‐stiffness sheath for continuum manipulators applied in minimally invasive surgery.
Methods
We present a variable‐stiffness sheath based...
Background
Due to the outstanding compliance and dexterity, continuum robot have great advantages in confined space applications, especially in minimally invasive surgery (MIS). However, the vascular environment is complicated and tortuous, it is necessary to preoperative motion planning and navigation for a continuum robot.
Methods
A cable‐driven continuum robot is proposed, and the mapping relationship...
Background
The continuum robot is widely used in minimally invasive surgery (MIS) because of its flexibility, dexterity and safety. However, because of the friction in the transmission system, backlash, and shape error from nominal kinematics, the tracking accuracy of the continuum robot is low, which may damage the tissues and organs during surgery. A novel error compensation method is presented...
This paper takes a gas-electric Hybrid Electric Bus (HEB) equipped with compressed natural gas (CNG) engine as the research object. According to the measured operating conditions, the torque distribution of HEB is optimized using instantaneous equivalent fuel consumption algorithm. The torque command of the engine is built in the lookup table, and the logic threshold control strategy of torque distribution...
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