A5069731508- Micro and Nano Robotics
- Soft Robotics and Applications
- Modular Robots and Swarm Intelligence
- Robotic Path Planning Algorithms
- Teleoperation and Haptic Systems
- Augmented Reality Applications
- Control and Dynamics of Mobile Robots
- Molecular Communication and Nanonetworks
- Surgical Simulation and Training
- Underwater Vehicles and Communication Systems
- Adaptive Control of Nonlinear Systems
- Evacuation and Crowd Dynamics
University of Toronto
2018-2020
McMaster University
2013
In this letter, a novel end-effector for surgical applications is presented that uses magnetic actuation in lieu of more traditional cable-driven tool with the goal providing high dexterity hard-to-reach locations by decoupling from rest system. The gripper and wrist device consists several magnets connected compliant Nitinol joints allow two rotational degrees freedom one gripping degree freedom. As an existing robot arm, could augment minimally invasive robots allowing distal sites narrow...
Magnetically-driven micrometer to millimeter-scale robotic devices have recently shown great capabilities for remote applications in medical procedures, microfluidic tools and microfactories. Significant effort has been on the creation of mobile or stationary with multiple independently-controllable degrees freedom (DOF) multiagent complex mechanism motions. In most magnetic microrobots, however, relatively large distance from field generation source microscale results controlling signals...
Wireless robots at the subcentimeter size are often actuated using externally generated magnetic fields. For most applications, these remote microrobots located relatively far from field generation sources. In this condition, all receive approximately same driving (which we term a homogeneous field). While some solutions have been presented to allow for creation of simple onboard tools, full potential multi-degrees-of-freedom (DOF) actuation has not exploited. Here introduce design framework...
This paper presents a mixed teleoperation/autonomous control approach for navigation and obstacle avoidance in mobile robots. The proposed method builds on an earlier general framework that systematically combines teleoperation autonomous subtasks. considers scenario which the user teleoperates robot while being assisted by subtask designed to help avoid collisions with obstacles task environment. commands are generated formulating solving constrained optimization problem over rolling...