33 citations · 36 across the 4 of their papers we have counts for
4 papers
Model Based Position Control of Soft Hydraulic Actuators
Mark Runciman, Enrico Franco, James Avery +2
In this article, we investigate the model based position control of soft hydraulic actuators arranged in an antagonistic pair. A dynamical model of the system is constructed by emp…
Soft Continuum Actuator Tip Position and Contact Force Prediction, Using Electrical Impedance Tomography and Recurrent Neural Networks
Amirhosein Alian, George Mylonas, James Avery
Enabling dexterous manipulation and safe human-robot interaction, soft robots are widely used in numerous surgical applications. One of the complications associated with using soft…
Lumen Shape Reconstruction using a Soft Robotic Balloon Catheter and Electrical Impedance Tomography
James Avery, Mark Runciman, Cristina Fiani +5
Incorrectly sized balloon catheters can lead to increased post-surgical complications, yet even with preoperative imaging, correct selection remains a challenge. With limited feedb…
Shape Sensing of Variable Stiffness Soft Robots using Electrical Impedance Tomography
James Avery, Mark Runciman, Ara Darzi +1
Soft robotic systems offer benefits over traditional rigid systems through reduced contact trauma with soft tissues and by enabling access through tortuous paths in minimally invas…