A solenoid injector based drop-on-demand system for generating large droplets.

This paper proposes a drop-on-demand (DOD) system that can produce single droplets of highly repeatable size in the order of 2 mm. This system utilizes an on-the-shelf solenoid injector used in automotive applications. The design methodology is explained along with the necessary measurements and numerical simulations of droplet generation.

A Soft+Rigid Hybrid Exoskeleton Concept in Scissors-Pendulum Mode: A Suit for Human State Sensing and an Exoskeleton for Assistance.

In this paper, we present a novel concept that can enable the human aware control of exoskeletons through the integration of a soft suit and a robotic exoskeleton. Unlike the state-of-the-art exoskeleton controllers which mostly rely on lumped human-robot models, the proposed concept makes use of the independent state measurements concerning the human user and the robot. The ability to observe the human state independently is the key factor in this approach.

An active brace for controlled transdermal drug delivery for adjustable physical therapy.

This study presents an active brace which is a cost efficient precision-controlled advanced therapy medicinal product for time and rate controlled transdermal drug delivery (TDD) through the use of drug containing nanoparticles and electronics. The active brace is designed to adjust the pressure at the contact area where the medication is applied. The drug is contained in the nanoparticles produced and takes effect when the nanoparticles burst under pressure.

Towards active tracking of beating heart motion in the presence of arrhythmia for robotic assisted beating heart surgery.

In robotic assisted beating heart surgery, the control architecture for heart motion tracking has stringent requirements in terms of bandwidth of the motion that needs to be tracked. In order to achieve sufficient tracking accuracy, feed-forward control algorithms, which rely on estimations of upcoming heart motion, have been proposed in the literature. However, performance of these feed-forward motion control algorithms under heart rhythm variations is an important concern.

Heart Motion Prediction Based on Adaptive Estimation Algorithms for Robotic Assisted Beating Heart Surgery.

Robotic assisted beating heart surgery aims to allow surgeons to operate on a beating heart without stabilizers as if the heart is stationary. The robot actively cancels heart motion by closely following a point of interest (POI) on the heart surface-a process called Active Relative Motion Canceling (ARMC). Due to the high bandwidth of the POI motion, it is necessary to supply the controller with an estimate of the immediate future of the POI motion over a prediction horizon in order to achieve sufficient tracking accuracy.

Design of a small animal biopsy robot.

Small animals are widely used in biomedical research studies. They have compact anatomy and small organs. Therefore it is difficult to perceive tumors or cells and perform biopsies manually.

Model based control algorithms for robotic assisted beating heart surgery.

Robotics technology promises an enhanced way of performing off-pump coronary artery bypass graft (CABG) surgery. In the robotic-assisted CABG surgery, surgeon performs the operation with intelligent robotic instruments controlled through teleoperation that replace conventional surgical tools. The robotic tools actively cancel the relative motion between the surgical instruments and the point-of-interest on the beating heart, in contrast to traditional off-pump CABG where the heart is passively constrained to dampen the beating motion.