5 papers
Towards a Novel Wearable Robotic Vest for Hemorrhage Suppression
Harshith Jella, Pejman Kheradmand, Joseph Klein +2
This paper introduces a novel robotic system designed to manage severe bleeding in emergency scenarios, including unique environments like space stations. The robot features a shap…
Bilinear Model Predictive Control Framework of the OncoReach, a Tendon-Driven Steerable Stylet for Brachytherapy
Pejman Kheradmand, Behnam Moradkhani, Mir Masoud Ale Ali +3
Steerable needles have the potential to improve interstitial brachytherapy by enabling curved trajectories that avoid sensitive anatomical structures. However, existing modeling an…
Helical Tendon-Driven Continuum Robot with Programmable Follow-the-Leader Operation
Behnam Moradkhani, Raghav Sankaranarayanan, Pejman Kheradmand +4
Spinal cord stimulation (SCS) is primarily utilized for pain management and has recently demonstrated efficacy in promoting functional recovery in patients with spinal cord injury.…
A Comprehensive General Model of Tendon-Actuated Concentric Tube Robots with Multiple Tubes and Tendons
Pejman Kheradmand, Behnam Moradkhani, Raghavasimhan Sankaranarayanan +5
Tendon-actuated concentric tube mechanisms combine the advantages of tendon-driven continuum robots and concentric tube robots while addressing their respective limitations. They o…
ExoNav II: Design of a Robotic Tool with Follow-the-Leader Motion Capability for Lateral and Ventral Spinal Cord Stimulation (SCS)
Behnam Moradkhani, Pejman Kheradmand, Harshith Jella +3
Spinal cord stimulation (SCS) electrodes are traditionally placed in the dorsal epidural space to stimulate the dorsal column fibers for pain therapy. Recently, SCS has gained atte…