LaryngoTORS: A Novel Cable-Driven Parallel Robotic System for Transoral Laser Phonosurgery
IEEE Robotics and Automation Letters, 2020 Transoral laser phonosurgery is a commonly used surgical procedure in which a laser beam is used to perform incision, ablation or photocoagulation of laryngeal tissues. Two techniques are commonly practiced: free beam and fiber delivery . For free beam delivery, a laser scanner is integrated into a surgical microscope to provide an accurate laser ...
Ming Zhao +5 more
openaire +3 more sources
Cable-Driven Unmanned Aerial Manipulator Systems for Water Sampling: Design, Modeling, and Control
Drones, 2023 The unmanned aerial manipulator (UAM) is a kind of aerial robot that combines a quadrotor aircraft and an onboard manipulator. This paper focuses on the problems of structure design, system modeling, and motion control of an UAM applied for water ...
Li Ding +3 more
doaj +1 more source
Robotic Resistance/Assistance Training Improves Locomotor Function in Individuals Poststroke: A Randomized Controlled Study [PDF]
, 2014 Objective To determine whether providing a controlled resistance versus assistance to the paretic leg at the ankle during treadmill training will improve walking function in individuals poststroke.
Kim, Janis +5 more
core +2 more sources
Variable Cable Stiffness Effects on Force Control Performance in Cable-Driven Robotic Actuators
Applied SciencesCable-driven robotic systems are widely used in applications requiring lightweight structures, large workspaces, and accurate force regulation. In such systems, the mechanical behavior of cable-driven actuators is strongly influenced by the elastic ...
Ana-Maria Ifrim, Ionica Oncioiu
doaj +1 more source
Applied Sciences, 2022 Robotic inspection and maintenance are gaining importance due to the number of different scenarios in which robots can operate. The use of robotic systems to accomplish such tasks has deep implications in terms of safety for human workers and can ...
Carlo Canali +7 more
doaj +1 more source
Balanced Truncation Model Reduction of a Nonlinear Cable-Mass PDE System with Interior Damping
, 2018 We consider model order reduction of a nonlinear cable-mass system modeled by a 1D wave equation with interior damping and dynamic boundary conditions. The system is driven by a time dependent forcing input to a linear mass-spring system at one boundary.
Batten, Belinda A. +3 more
core +1 more source
Space-time numerical simulation and validation of analytical predictions for nonlinear forced dynamics of suspended cables [PDF]
, 2008 This paper presents space-time numerical simulation and validation of analytical predictions for the finite-amplitude forced dynamics of suspended cables.
Rega, Giuseppe, Srinil, Narakorn
core +1 more source
Cable-Driven Mechanism Models for Sensitive and Actuated Minimally Invasive Robotic Instruments
Applied SciencesCable-driven mechanism models are, usually, included in actuated systems; however, recently, their use for sensitive systems has been explored. In this paper, two cable-driven multi-body mechanism models are compared, underlining advantages and ...
Giovanni Gerardo Muscolo, Paolo Fiorini
doaj +1 more source
An Open-Source 7-Axis, Robotic Platform to Enable Dexterous Procedures within CT Scanners
, 2019 This paper describes the design, manufacture, and performance of a highly dexterous, low-profile, 7 Degree-of-Freedom (DOF) robotic arm for CT-guided percutaneous needle biopsy.
Norbash, Alexander M. +3 more
core +1 more source
Annals of Clinical and Translational Neurology, EarlyView.ABSTRACT Background and Objectives Multiple sclerosis (MS) exhibits racially disparate rates of disease progression. Black people with MS (B‐PwMS) experience a more severe disease course than non‐Hispanic White people with MS (NHW‐PwMS). Here we investigated structural and functional connectivity as well as structure–function decoupling in the ...
Emilio Cipriano +11 more
wiley +1 more source