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Purpose This study sought to evaluate the diagnostic accuracy of surface-coil 3T magnetic resonance (MR) imaging in the preoperative study of patients with rectal cancer. Materials and methods Thirty patients with histologically proven rectal cancer underwent surface-coil 3T MR imaging with sagittal, paracoronal and para-axial T2-weighted turbo spin echo (TSE) sequences. Slice thickness was 3 mm...
This paper deals with a comparative study on using water and air as actuation means for the control of a fluidic muscle (designed for air) and assesses the performance, particularly from a dynamic and energetic point of view. A medium with higher bulk modulus such as oil/water is believed to increase pressure and force bandwidths and reduce sensitivity to load variations, as is the case with conventional...
This paper describes the design and integration of three joint torque sensors on the arm of the iCub platform , . The objective is to enhance the robot arm with joint torque control capability. This activity is part of a general upgrade of the humanoid robot to provide the its 53 degrees of freedom low-level joint torque control capabilities. In particular, the shoulder joint is challenging because...
This paper describes the design and realization of a force sensor and its use in the control of a human-like robotic neck actuated with tendons. The sensor is designed to have high sensitivity and to be robust to large loads. We use the sensor to control the force exerted by the tendons and realize a controller for the two degrees of freedom of the neck. With respect to previous work [1] we show that...
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