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Proceedings Papers

Steerable Needle Trajectory Following in the Lung: Torsional Deadband Compensation and Full Pose Estimation With 5DOF Feedback for Needles Passing Through Flexible Endoscopes

Tayfun Efe Ertop, Maxwell Emerson, Margaret Rox, Josephine Granna, Robert Webster, Fabien Maldonado, Erin Gillaspie, Michael Lester, Alan Kuntz, Caleb Rucker, Mengyu Fu, Janine Hoelscher, Inbar Fried, Ron Alterovitz

Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T05A003, October 5–7, 2020

Publisher: American Society of Mechanical Engineers

Paper No: DSCC2020-3163

https://doi.org/10.1115/DSCC2020-3163

View Paper titled, Steerable Needle Trajectory Following in the Lung: Torsional Deadband Compensation and Full Pose Estimation With 5DOF Feedback for Needles Passing Through Flexible Endoscopes

Topics: Endoscopes, Feedback, Lung, Needles, Trajectories (Physics), Biological tissues, Errors, Kalman filters, Control equipment, Degrees of freedom

Proceedings Papers

Stiffness Control of Parallel Continuum Robots

Vincent Aloi, Caroline Black, Caleb Rucker

Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T04A012, September 30–October 3, 2018

Publisher: American Society of Mechanical Engineers

Paper No: DSCC2018-9112

https://doi.org/10.1115/DSCC2018-9112

View Paper titled, Stiffness Control of Parallel Continuum Robots

Topics: Robots, Stiffness, Actuators, Calibration, End effectors, Force measurement, Human-robot interaction, Modeling, Position control, Robotics

Journal Articles

A Rigid Mechanism With Uniform, Variable Curvature

Kaitlin Oliver Butler, Andrew L. Orekhov, Jake Childs, Caleb Rucker

Publisher: ASME

J. Med. Devices. September 2016, 10(3): 030953.

Paper No: MED-16-1120

https://doi.org/10.1115/1.4033808

Published Online: August 1, 2016

View Article titled, A Rigid Mechanism With Uniform, Variable Curvature

Topics: Chain, Deflection, Engineering prototypes, Manipulators, Rigid-body mechanisms, Tendons, Design, Instrumentation, Stiffness

Proceedings Papers

Design of a Quadramanual Robot for Single-Nostril Skull Base Surgery

Philip J. Swaney, Jordan M. Croom, Jessica Burgner, Hunter B. Gilbert, D. Caleb Rucker, Robert J. Webster, III, Kyle D. Weaver, Paul T. Russell, III

Proc. ASME. DSCC2012-MOVIC2012, Volume 3: Renewable Energy Systems; Robotics; Robust Control; Single Track Vehicle Dynamics and Control; Stochastic Models, Control and Algorithms in Robotics; Structure Dynamics and Smart Structures; Surgical Robotics; Tire and Suspension Systems Modeling; Vehicle Dynamics and Control; Vibration and Energy; Vibration Control, 387-393, October 17–19, 2012

Publisher: American Society of Mechanical Engineers

Paper No: DSCC2012-MOVIC2012-8536

https://doi.org/10.1115/DSCC2012-MOVIC2012-8536