3 papers
cs.RO2026
Grip as Needed, Glide on Demand: Ultrasonic Lubrication for Robotic Locomotion
Mostafa A. Atalla, Daan van Bemmel, Jack Cummings +3
Friction is the essential mediator of terrestrial locomotion, yet in robotic systems it is almost always treated as a passive property fixed by surface materials and conditions. He…
cs.RO2026
OSCAR: An Ovipositor-Inspired Self-Propelling Capsule Robot for Colonoscopy
Mostafa A. Atalla, Anand S. Sekar, Remi van Starkenburg +4
Self-propelling robotic capsules eliminate shaft looping of conventional colonoscopy, reducing patient discomfort. However, reliably moving within the slippery, viscoelastic enviro…
physics.med-ph2025
Active Lubrication of Transluminal Medical Instruments
Mostafa A. Atalla, Jelte Nieuwenhuis, Alan Martin +6
Transluminal minimally invasive surgery uses natural orifices and small incisions to access internal anatomical structures, promoting quicker recovery and reduced morbidity. Howeve…