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This paper introduces the CableRobot simulator, which was developed at the Max Planck Institute for Biological Cybernetics in cooperation with the Fraunhofer Institute for Manufacturing Engineering and Automation IPA. The simulator is a completely novel approach to the design of motion simulation platforms in so far as it uses cables and winches for actuation instead of rigid links known from hexapod...
In recent years, several researchers focused their work on the mechanisms to protect the UAV from the dangerous collision with obstacles particularly the application of a spherical shell. However, this mechanism has some drawbacks when used in real-world mission especially in an outdoor environment. In the presence of wind, the spherical shell will experience significant air drag that will affect...
We present FAST-Hex, a novel UAV concept which is able to smoothly change its configuration from underactuated to fully actuated by using only one additional motor that tilts all propellers at the same time. FAST-Hex can adapt to the task at hand by finely tuning its configuration from the efficient (but underactuated) flight (typical of coplanar multi-rotor platforms) to the full-pose-tracking (but...
Epidural anaesthesia is a medical gesture commonly performed by an anaesthesiologist. However, it remains one of the most difficult gestures to master for medical students. Given the lack of sufficiently realistic training devices available for future physicians, we propose a new haptic simulator which reproduces the haptic sensations felt by anaesthesiologists when performing this kind of operation...
In this article, a nonlinear adaptive impedance control strategy is proposed to adjust the impedance of a one-degree of freedom Falcon robot to a pre-defined nonlinear impedance which is an approximate mathematical representation of the sino-nasal tissue. Further developments can be used for a training simulator system for the otolaryngology surgery training purposes. The stability of the proposed...
During the endoscopic sinus and skull base training surgeries, the haptic perception of tool-tissue interaction and even transitions and ruptures in the tissues are fundamental which should be taken into account in a robotic control scheme. However, this problem is extremely complex given the nature and the variety of tissues involved in an ESS procedures. In this article, ex-vivo indentation and...
Haptic sensation delivered to doctor's hands during CT-guided needle intervention complements insufficient visual information. Exploitation of the haptic information is to be trained using simulation. A model is necessary to compute the reflective forces occurring when the needle tip contacts with layers of soft tissues such as skin, membrane, and other layers of tissues. This paper proposes a nonlinear...
Vacuum interrupters are required to perform a wide variety of roles within vacuum circuit breakers. One duty is to pass short-circuit currents with the vacuum interrupters' contacts closed for a period of time (1 to 4 seconds), after which the circuit breaker's mechanism must be able to open the contacts, Thus the possibility of contact welding must be minimized. The flow of current through practical...
The social force model (SFM) is able to reproduce many crowd phenomena and laws based on Newtonian mechanics. However, the interaction forces used in social force model depend on relative geometric positions of pedestrians, ignoring the impact of velocity in a dynamic crowd, which causes unrealistic phenomena in simulation. This paper proposes a novel method to make pedestrians behave more realistically...
Musculoskeletal Models are useful for designing rehabilitation technology (RT). MSMS software has unique features which let simulate RT along with different controllers. Unfortunately there are technical differences across platforms which yield to different results. Therefore benchmarking of simulations has been proposed. Here we present the implementation of a Shoulder and Elbow musculosketal (SE)...
This paper reports on a conceptual design for a modular XYZ micro/nano-positioning stage by employing bridge amplified flexure mechanism and piezoelectric actuators. The mechanism design and analysis of a new terse parallel flexure stage with three translational degrees-of-freedom (DOF) is presented. The FEA simulation of dynamics analysis and fatigue analysis are conducted to reveal the capacity...
This paper consists of the design and construction of an intraoperative peritoneal lavage device. It is intended for cleaning the intra-abdominal cavity during a surgical procedure, once the etiology of a peritonitis has been identified and treated. Its purpose is to improve the current standard treatment consisting of simple pouring saline solution. A good washing procedure aids stopping the inflammatory...
This report describes the development of a force platform based on instrumented load cells with built-in conditioning circuit and strain gages to measure and acquire the components of the force that is applied to the bike crank arm during pedaling in real conditions, and save them on a SD Card. To accomplish that, a complete new crank arm 3D solid model was developed in the SolidWorks, with dimensions...
Orthodontic force simulation is very important for the guidance of clinical orthodontic treatment. Previous works were mainly conducted by directly loading the force on a single or a few teeth. However, in clinic, the orthodontic force is provided by loading orthodontic appliances, and there currently is no appropriate way to measure the force on the teeth provided by the loaded appliances. This study...
In this paper we propose a method for reliable and error tolerant assembly for impedance controlled robots by using a particle filter based approach. Our method applies a haptic rendering model obtained from CAD data only, with which we are able to evaluate relative objects poses implemented as particles. The real world force torque sensor values are compared to the model based haptic rendering information...
This paper presents a method to estimate contact force for minimally invasive surgery (MIS) using endoscopic imagery. In order to provide surgeons the information of contact force as surgical instruments get contact to human tissue, we developed a method to calculate tissue deformation by reconstructing 3D model using real-time image processing. The force information will be fed back to a haptic device...
Rotary cutting of rotor and stator laminations complements the available methods in the processing of electrical steel sheet. Furthermore, with this process, a technological answer to the production of ever-thinner laminations can be found in which high-speed stamping is reaching its technical limits. This paper explicates a finite element analysis for the rotary cutting process of electrical steel...
Extracting centerlines of coronary arteries is a challenging but important task in clinical applications of cardiac computed tomography angiography (CTA). In this paper, we propose an inertia-driven path tracking method based on the directional minimal path (DMP) to automatically extract the coronary centerlines. In DMP, the path tracing is divided into a number of segments. The proposed method adopts...
The stiffness of deployable structures based on scissor-style unit is often insufficient. The stiffness can be improved by changing the element if the stiffness model of deployable structures based on scissor-style unit is modeled. Firstly the force of single scissor-style unit needed to be analyzed in order to get the force model of every joint in each unit. Then the stiffness model of deployable...
Autonomous underwater vehicles (AUV) are attractive platforms for many applications in the off-shore industry. The design and development of an AUV is an expensive and complex task. During the development of these vehicles both at the stage of physical design for construction, as in the stage of the navigation system design, it is critical to estimate and analyze the dynamic behavior of these vehicles...
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