Continuum Mechanics Modeling of Flexible Spring Joints in Surgical Robots
Advanced Robotics Research, EarlyView.A new mechanical model of a tendon‐actuated helical extension spring joint in surgical robots is built using Cosserat rod theory. The model can implicitly handle the unknown contacts between adjacent coils and numerically predict spring shapes from straight to significantly bent under actuation forces.
Botian Sun +3 more
wiley +1 more source
Reversible Horizontal Semicircular Canalith Jam Mimicking Acute Vestibular Syndrome: Diagnosis and Treatment with Head-Shaking and Gufoni Maneuvers. [PDF]
Turk Arch OtorhinolaryngolVats AK, Kothari S, Vundavilli P.
europepmc +1 more source
Advanced Robotics Research, EarlyView.This work presents a state‐adaptive Koopman linear quadratic regulator framework for real‐time manipulation of a deformable swab tool in robotic environmental sampling. By combining Koopman linearization, tactile sensing, and centroid‐based force regulation, the system maintains stable contact forces and high coverage across flat and inclined surfaces.
Siavash Mahmoudi +2 more
wiley +1 more source
De Novo Assembly and Comparative Analysis of the Complete Mitochondrial Genome of <i>Mesenchytraeus</i> (Annelida, Enchytraeidae). [PDF]
Ecol EvolChen J, Naveira H, Zhang J, Wu N, Xie Z.
europepmc +1 more source
Compliant Pneumatic Feet with Real‐Time Stiffness Adaptation for Humanoid Locomotion
Advanced Robotics Research, EarlyView.A compliant pneumatic foot with real‐time variable stiffness enables humanoid robots to adapt to changing terrains. Using onboard vision and pressure control, the foot modulates stiffness within each gait cycle, reducing impact forces and improving balance. The design, cast in soft silicone with embedded air chambers and Kevlar wrapping, offers durable,
Irene Frizza +3 more
wiley +1 more source
Comparative Mitogenome Analyses Uncover Mitogenome Features and Phylogenetic Implications of the Rabbitfishes (Perciformes: Siganidae). [PDF]
Ecol EvolMa HR, Pang LJ, Tang Q, Wang T.
europepmc +1 more source
Efficient and Robust Standing Postures of Quadruped Robots
Advanced Robotics Research, EarlyView.A calibrated static framework estimates load, optimizes torques, and adapts posture so quadruped robots stand efficiently and robustly under external payloads, achieving up to 50% lower torque demand. Inspired by the natural posture adjustments of animals under external loading, this article presents an optimization‐based framework for minimizing joint
Mohamad Kanaan +5 more
wiley +1 more source
Skew detection in document images based on rectangular active contour
, 2010 The digitalization processes of documents produce frequently images with small rotation angles. The skew angles in document images degrade the performance of optical character recognition (OCR) tools. Therefore, skew detection of document images plays an
Zhu LL(朱琳琳) +2 more
core
The first two complete mitochondrial genomes for the genus <i>Neotrichoporoides</i> (Hymenoptera, Eulophidae) and their phylogenetic analysis. [PDF]
ZookeysWen JS, Jin XX, Li WJ, Chen ZP, Zu GH.
europepmc +1 more source
Advanced Science, EarlyView.This study investigates how the internal structure of fiber‐reinforced ceramic composites affects their resistance to damage. By combining 3D X‐ray imaging with acoustic emission monitoring during mechanical testing, it reveals how silicon distribution influences crack formation.
Yang Chen +7 more
wiley +1 more source