6 citations · 21 across the 37 of their papers we have counts for
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FBG-Based Position Estimation of Highly Deformable Continuum Manipulators: Model-Dependent vs. Data-Driven Approaches
Shahriar Sefati, Rachel Hegeman, Farshid Alambeigi +2
Conventional shape sensing techniques using Fiber Bragg Grating (FBG) involve finding the curvature at discrete FBG active areas and integrating curvature over the length of the co…
FBG-Based Control of a Continuum Manipulator Interacting With Obstacles
Shahriar Sefati, Ryan Murphy, Farshid Alambeigi +4
Tracking and controlling the shape of continuum dexterous manipulators (CDM) in constraint environments is a challenging task. The imposed constraints and interaction with unknown…
Inroads Toward Robot-Assisted Internal Fixation of Bone Fractures Using a Bendable Medical Screw and the Curved Drilling Technique
Farshid Alambeigi, Mahsan Bakhtiarinejad, Armina Azizi +4
Internal fixation is a common orthopedic procedure in which a rigid screw is used to fix fragments of a fractured bone together and expedite the healing process. However, the rigid…
On The Effect of Vibration on Shape Sensing of Continuum Manipulators Using Fiber Bragg Gratings
Shahriar Sefati, Farshid Alambeigi, Iulian Iordachita +2
Fiber Bragg Grating (FBG) has shown great potential in shape and force sensing of continuum manipulators (CM) and biopsy needles. In the recent years, many researchers have studied…
A Convex Optimization Framework for Constrained Concurrent Motion Control of a Hybrid Redundant Surgical System
Farshid Alambeigi, Shahriar Sefati, Mehran Armand
We present a constrained motion control framework for a redundant surgical system designed for minimally invasive treatment of pelvic osteolysis. The framework comprises a kinemati…