Tip-Growing Robots: Design, Theory, Application
Growing robots apically extend through material eversion or deposition at their tip. This endows them with unique capabilities such as follow the leader navigation, long-reach, …
Shamsa al harthy
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InchIGRAB: An Inchworm-Inspired Guided Retraction and Bending Device for Vine Robots During Colonoscopy
Vine robots are soft robots that translate by everting, or growing, from their tips. This mechanism of translation minimizes the application of shear forces on the environment, …
Ayush giri
Closing the Loop on Concentric Tube Robot Design: A Case Study on Micro-Laryngeal Surgery
Concentric tube robots (CTRs) are well-suited to address the unique challenges of minimally invasive surgical procedures due to their small size and ability to navigate highly …
Jui te lin
Material Scrunching Enables Working Channels in Miniaturized Vine-Inspired Robots
A new subclass of soft robot, known as tip-extending or ``vine'' robots, consists of long inflatable devices that move through the environment by extending from the tip. A key …
Scalable enforcement of geometric non-interference constraints for gradient-based optimization
Many design optimization problems include constraints to prevent intersection of the geometric shape being optimized with other objects or with domain boundaries. When applying …
Ryan c. dunn
ForceSticker: Wireless, Batteryless, Thin & Flexible Force Sensors
Any two objects in contact with each other exert a force that could be simply due to gravity or mechanical contact, such as any ubiquitous object exerting weight on a platform or …
Agrim gupta
Design and Fabrication of Concentric Tube Robots: A Survey
Concentric tube robots (CTRs) have drawn significant research attention over the years, particularly due to their applications in minimally invasive surgery (MIS). Indeed, their …
Chibundo nwafor
A Generalized Framework for Concentric Tube Robot Design Using Gradient-Based Optimization
Concentric tube robots (CTRs) show particular promise for minimally invasive surgery due to their inherent compliance and ability to navigate in constrained environments. Due to …
Jui te lin
Design and Evaluation of a Miniaturized Force Sensor Based on Wave Backscattering
The ability to sense forces is a critical component for ensuring that robots can safely interact with their environment. Yet there are numerous situations, in particular for …
Daegue park
A Hybrid Concentric Tube Robot for Cholesteatoma Laser Surgery
This letter presents a hybrid concentric tube robot which covers the middle ear volume for exhaustive ablation of residual cholesteatoma. The proposed robotic system combines a …
Dang viet anh nguyen