A magnetic-controlled flexible continuum robot (MFCR) is a kind of with small-size and flexibility that deforms under controlled magnetic fields, which makes MFCRs easy to fit in special sizes designs provides them the ability feasibly arrive at desired area through certain blood vessel bifurcation. The drive method suitable for miniaturization soft robots but shows limitations realizing high f...

The objective of this paper is to show that the structure of the spatiotemporal continuum has important implications in practical stochastic hydrology (e.g., geostatistical analysis of hydrologic sites) and is not merely an abstract mathematical concept. We propose that the concept of physical geometry as a spatiotemporal continuum with properties that are empirically de®ned is important in hyd...

For most of the rigid manipulators, it is possible to apply a gravity compensation mode, by which the user is able to easily reconfigure the arm and record the necessary data. However, due to the specific characteristics of soft robots such as elastic properties and complex dynamics, it is usually very difficult to implement kinesthetic teaching for Learning from Demonstration (LfD) scenarios. ...

A continuum robot for inspecting aircraft fuel tank is designed to improve the performance of manual maintenance. Path planning for this kind of robot is challenging due to their complex kinematics models. In an environment without obstacles, a strategy of path planning is proposed in this paper. Dimension reduction method is presented and an imaginary straight line between the starting point a...

in this study, a novel variable impedance control for a lower-limb rehabilitation robotic system using voltage control strategy is presented. the majority of existing control approaches are based on control torque strategy, which require the knowledge of robot dynamics as well as dynamic of patients. this requires the controller to overcome complex problems such as uncertainties and nonlinearit...

This paper presents the development of an endoscopic continuum robot for surgical obesity treatment using a transgastric approach. This proposed transgastric gastroplasty approach performs suturing and resizing of a stomach from inside, aiming at further reducing postoperative complications by avoiding the use of skin incisions. The presented design can be inserted into the stomach in a folded ...

The Leap Motion controller is a low-cost, optically-based hand tracking system that has recently been introduced on the consumer market. Prior studies have investigated its precision and accuracy, toward evaluating its usefulness as a surgical robot master interface. Yet due to the diversity of potential slave robots and surgical procedures, as well as the dynamic nature of surgery, it is chall...