5 citations · 5 across the 6 of their papers we have counts for
6 papers
Design and Modeling of a Single-Port Three-Arm Robotic Tool for Minimally Invasive Neurosurgery
Nazia H. Dana, Harith S. Gallage, Ismail A. Auta +2
Surgical robots require highly dexterous and compact robotic systems capable of operating effectively within confined anatomical spaces. However, due to limited access provided by…
Design and Development of a Robotic Transcatheter Delivery System for Aortic Valve Replacement
Harith S. Gallage, Bailey F. De Sousa, Benjamin I. Chesnik +3
Minimally invasive transcatheter approaches are increasingly adopted for aortic stenosis treatment, where optimal commissural and coronary alignment is important. Achieving precise…
Modeling, Vibration Control, and Trajectory Tracking of a Kinematically Constrained Planar Hybrid Cable-Driven Parallel Robot
Ronghuai Qi, Amir Khajepour, William W. Melek
This paper presents a kinematically constrained planar hybrid cable-driven parallel robot (HCDPR) for warehousing applications as well as other potential applications such as rehab…
Workspace Analysis and Optimal Design of Cable-Driven Parallel Robots via Auxiliary Counterbalances
Ronghuai Qi, Hamed Jamshidifar, Amir Khajepour
Cable-driven parallel robots (CDPRs) are widely investigated and applied in the worldwide; however, traditional configurations make them to be limited in reaching their maximum wor…
Redundancy Resolution and Disturbance Rejection via Torque Optimization in Hybrid Cable-Driven Robots
Ronghuai Qi, Amir Khajepour, William W. Melek
This paper presents redundancy resolution and disturbance rejection via torque optimization in Hybrid Cable-Driven Robots (HCDRs). To begin with, we initiate a redundant HCDR for n…
Generalized Flexible Hybrid Cable-Driven Robot (HCDR): Modeling, Control, and Analysis
Ronghuai Qi, Amir Khajepour, William W. Melek
This paper presents a generalized flexible Hybrid Cable-Driven Robot (HCDR). For the proposed HCDR, the derivation of the equations of motion and proof provide a very effective way…