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Some phases of laparoscopic interventions, such as suturing, require precise and dexterous movements that are difficult to perform by means of rigid instruments. Multi-DOF hand-held instruments and teleoperated systems have been developed to increase movement dexterity. In this paper, we present the design of a novel hand-held robotic instrument that can be operated by the surgeon with one hand only,...
Remote manipulation tasks in the small scale can often not be performed autonomously, due to the unstructured nature of the environments and the limited capabilities of sensor and localization technologies. For these tasks, teleoperated systems are used, in which the human operator is integral part of the control. In time-delayed teleoperation, the operator gradually adopts discrete control strategies,...
This paper introduces the main objectives of the neurobotics project aimed at designing and developing innovative hybrid bionic systems (HBSs) by fusing neuroscience and robotics. Eight different HBSs have been jointly designed and are being developed. This paper presents in detail the telepresence platform. The neurobotics artificial lamprey model has been designed to validate a number of neuroscience...
In this paper we draw a distinction between tele-operation and tele-presence. We argue that the disappearance of mediation, as well as the cognitive and physical integration between human subject and robotic alias are fundamental for the realization of telepresence systems. In the experimental parts of this paper, we propose a novel and more suitable approach for developing and designing natural interfaces,...
The experimental study reported in this paper illustrates the development of a legged locomotion system for autonomous medical microrobots with the final goal to perform gastrointestinal (GI) diagnosis by minimally invasive endoscopy. An active teleoperated diagnostic capsule should be able to adapt its gait to changing gut diameters and vary its patterns to turn, rotate or stop based on the encountered...
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