Moreover, owing to the constraints on Fatigue strength of a soft continuum robot, the robot arm fractures when the requisite training steps surpass the maximum threshold it can endure. Therefore, training robots with high DoFs using DRL in the real world faces considerable challenges (Fig. 1b)...
Soft robots are relatively flexible and theoretically have infinite degrees of freedom which can overcome the problem of the rigid instrument. A soft robot system for single-port transvesical robot-assisted radical prostatectomy (STvRARP) is developed in this paper. The soft manipulator with 10 mm ...
Positional accuracy and load capacity of the EE rely on high stiffness of the robot in practice engineering. For CDPRs, the stiffness is depended on the stiffness of cables as well as the internal tension exerted on the cables. Although the flexible property of cables can increase the flexibili...
Due to soft m... H Wang,W Chen,X Yu,... - IEEE/RSJ International Conference on Intelligent Robots & Systems 被引量: 44发表: 2014年 Development of a Compact Cable-Driven Laparoscopic Endoscope Manipulator This report describes continuing development of a novel compact surgical assistant robot ...
Profile estimation for variably routed cable-driven continuum robot.Forward and inverse kinematics of multi-segmented cable-driven continuum robot.Experimental validation with and without an obstacle in robot workspace.Example application of robot with soft gripper generating spiral profile for gripping.关键...
Human-robot interaction (HRI) is fundamental for human-centered robotics, and has been attracting intensive research for more than a decade. The series elastic actuator (SEA) provides inherent compliance, safety and further benefits for HRI, but the introduced elastic element also brings control diff...
Cable-driven parallel robot effector Fixed support for cable-driven parallel robot Unlike the conventional shelf robot, it was impossible for the researchers to consult technical specifications to understand their repeatability. This type of information had to be specified through testing and...
Robot. Biomim. 1, 17 (2014). https://doi.org/10.1186/s40638-014-0017-0 Download citation Received26 August 2014 Accepted15 October 2014 Published02 November 2014 DOIhttps://doi.org/10.1186/s40638-014-0017-0 Share this article Anyone you share the following link with will be able to ...
Soft robots emerged as a natural and important evolution of exoskeletal robotic devices, expanding the possibilities of safe and effective human-robot interaction, especially considering that an exchange of mechanical power occurs during both rehabilitation therapies and motor assistance. There is a growing...
In general, there are three com- mon types of continuum robot, which are tendon‐driven robot, con- centric tube and soft robot. 7 At present, the research on continuum robot is mainly focused on the structure design, kinematics modeling, motion control, and shape reconstruction. The ...