5 papers
Design and Characterization of a Unified Continuum Robot Actuation Platform
Yunti Xu, Aedan Mangan, Miheer Potdar +2
Continuum robots enable dexterous access to confined spaces in applications such as minimally invasive surgery and industrial inspection. However, their actuation systems are often…
Pneumatic Units for Logic-based Sequential Excitation (PULSE) in Wearable Haptic Devices
Jessica Healey, Anoush Sepehri, Michael T. Tolley +1
Soft, wearable robotic devices can deliver haptic feedback to support a wide range of tasks, such as extended reality, training various skills, and rehabilitation. Pneumatic actuat…
A Task-Agnostic Control Strategy for Dynamic Assistance with Pneumatically Actuated Soft Exosuits
Anoush Sepehri, Zachary Huang, Raymond de Callafon +2
Pneumatic artificial muscles have provided new opportunities to develop upper-extremity soft exosuits for reha- bilitation, augmentation, and assisted daily living. However, the co…
CASAband: Easy-to-Wear Textile Wristband using Shape Memory Alloy Actuators for Spatial and Temporal Haptic Feedback
Baekgyeom Kim, Anoush Sepehri, Jessica Healey +4
Haptic interfaces for the wrist and forearm offer an attractive alternative to hand-worn devices as they are simple to wear, leave the hands free for interaction with the real worl…
Contact-Aware Planning and Control of Continuum Robots in Highly Constrained Environments
Aedan Mangan, Kehan Long, Ki Myung Brian Lee +3
Continuum robots are well suited for navigating confined and fragile environments, such as vascular or endoluminal anatomy, where contact with surrounding structures is often unavo…