Commercial surgical robots have been in clinical use since the mid-1990s, supporting
surgeons in various tasks. In the past decades, many systems emerged as research …

Surgical robots have had clinical use since the mid‐1990s. Robot‐assisted surgeries offer
many benefits over the conventional approach including lower risk of infection and blood …

Robotic catheters have the potential to revolutionize cardiac surgery by enabling minimally
invasive structural repairs within the beating heart. This paper presents an actuated catheter …

This paper analyzes the robustness and stability of disturbance observer (DOb)-based
explicit force control systems. Conventional analysis methods, which only consider ideal …

The advent of telerobotic systems has revolutionized various aspects of the industry and
human life. This technology is designed to augment human sensorimotor capabilities to …

Force sensors provide critical information about robot manipulators, manufacturing
processes, and haptic interfaces. Commercial force sensors, however, are generally not …

In this paper, we present a design and control approach of a modular off-board actuation
system with mono-articular hip exosuit, enabling the instantaneous assistive profile …

Medical robots have evolved from autonomous systems to tele-operated platforms and
mechanically-grounded, cooperatively-controlled robots. Whilst these approaches have …

The importance of robot contact operation control has been increasing recently due to a
need for robots to interact more with the outside world. However, traditional robot …

A hand-held force-controlled ultrasound probe has been developed for medical imaging
applications. The probe-patient contact force can be held constant to improve image …