In this paper, we present a new feedback method to automatically servo-control the 3-D
shape of soft objects with robotic manipulators. The soft object manipulation problem has …

A teleoperated manipulator system includes a manipulator assembly and a tool actuation
assembly coupled to the manipulator assembly. The tool actuation assembly inserts a tool …

To address the issue of declining performance over time with manual uterine manipulation
during minimally invasive gynecologic surgery, we propose a novel uterine manipulation …

It is well known that Remote Center of the motion (RCM) mechanisms are highly suitable for
many medical applications. While it is sometimes preferable that the mechanism can control …

Introducing robots into the operating theatre has become more popular in recent decades.
Surgical manipulators have been developed to assist in surgeries like a human assistant to …

This paper presents the design and development of a novel compliant safe joint (CSJ). The
principle of operation of the CSJ is based on a cam-like transmission mechanism, which we …

Objective: Although there have been studies conducted on the instantaneous remote center
of motion (RCM) mechanism, the general closed-loop control method has not been studied …

Nowadays, surgical robots are widely used to perform surgeries more efficiently, especially
in minimally invasive surgeries. This paper presents a novel robotic manipulator to substitute …

In concurrent work, we introduced a novel robotic package delivery system LIMMS (Latching
Intelligent Modular Mobility System). Each of LIMMS'end effectors requires a small …

A climbing robot is developed to help people inspect lamps on the top of 30 meters
lampposts of the airport in this paper. Its movement is realized by a dual symmetric chain …