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cs.RO2026
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…
cs.RO2026
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…