4 papers · 1 filter
An MRI-Guided Robotic System to Improve Hippocampal Access for Epilepsy Interventions
John E. Peters, Abby M. Grillo, Mahshid Mansouri +8
This paper presents an MRI-guided robotic system that improves hippocampal access by delivering a curved needle-like laser ablator through the foramen ovale, a natural opening in t…
Task-space model-based control of pneumatic soft actuators
Nithin S. Kumar, Joshua Gaston, D. Caleb Rucker +1
Soft actuators enable dexterous and compliant interaction, but closed-loop task-space control remains challenging due to strong nonlinearities, distributed deformation, and uncerta…
Control-Oriented Learning for Dynamic Tracking and Stability Analysis of Soft Pneumatic Actuators
Nithin S. Kumar, Eric J. Barth
Soft pneumatic actuators offer inherent compliance and safe interaction but remain difficult to model and control because of their highly nonlinear, distributed dynamics. We presen…
Learning-Based Modeling of Soft Robots via Cosserat Rod Theory
Mohammad Ali, Nithin Senthur Kumar, Eric J. Barth +1
Modeling soft robot dynamics is challenging due to their continuum structure and typically nonlinear dynamics. Creating models based on first-order principles is typically time-dem…