The Parallel Continuum Robot (PCR) is an emerging class of soft robotics distinguished by features such as flexibility, safety, compactness, and dexterity attributed to their continuous components, meanwhile their lack of precision and stiffness are compensated by the parallel configuration. These inherent advantages position PCR as a potential choice for applications ranging from flexible bio-mimetic robots like an elephant trunk to scenarios requiring human contact, such as the manipulator of a minimally invasive surgical robot. In this paper, we propose a novel PCR design capable of achieving 6 degree-of-freedom control of the end effector, with an augmented reachable workspace and range of twisting. We present a theoretical modeling approach for this mechanism, and the merits of our design are demonstrated through simulation results, offering a comparative analysis against the conventional Stewart-Gough pattern design. Then, its capability of large-range twisting motion is validated with a prototype.
Download full-text PDF |
Source |
|---|---|
| http://dx.doi.org/10.1109/EMBC53108.2024.10782645 | DOI Listing |
Publication Analysis
Top Keywords
Similar Publications
PASCAL - A Collaboration Technique between Non-Collocated Avatars in Large Collaborative Virtual Environments.
IEEE Trans Vis Comput Graph
March 2025
Collaborative work in large virtual environments often requires transitions from loosely-coupled collaboration at different locations to tightly-coupled collaboration at a common meeting point. Inspired by prior work on the continuum between these extremes, we present two novel interaction techniques designed to share spatial context while collaborating over large virtual distances. The first method replicates the familiar setup of a video conference by providing users with a virtual tablet to share video feeds with their peers.
View Article and Find Full Text PDFA Novel 6-DOF Parallel Continuum Robot with Enhanced Reachable Workspace and Range of Twisting.
Annu Int Conf IEEE Eng Med Biol Soc
July 2024
The Parallel Continuum Robot (PCR) is an emerging class of soft robotics distinguished by features such as flexibility, safety, compactness, and dexterity attributed to their continuous components, meanwhile their lack of precision and stiffness are compensated by the parallel configuration. These inherent advantages position PCR as a potential choice for applications ranging from flexible bio-mimetic robots like an elephant trunk to scenarios requiring human contact, such as the manipulator of a minimally invasive surgical robot. In this paper, we propose a novel PCR design capable of achieving 6 degree-of-freedom control of the end effector, with an augmented reachable workspace and range of twisting.
View Article and Find Full Text PDFSubclinical Primary Aldosteronism is Characterized by Maladaptive Natriuretic Peptide and Adrenal Hormonal Physiology.
J Clin Endocrinol Metab
February 2025
Center for Adrenal Disorders, Division of Endocrinology, Diabetes, and Hypertension, Brigham and Women's Hospital and Harvard Medical School, Boston, MA.
Background: A continuum of non-suppressible aldosterone production has been demonstrated in normotensive individuals, termed subclinical primary aldosteronism (PA), and is consistently associated with increased risk for developing hypertension and cardiovascular disease. The hormonal mechanisms accounting for subclinical PA are not well understood.
Method: To quantify the magnitude of subclinical PA, prospectively recruited normotensive participants (n=75) had their maximally suppressed plasma aldosterone assessed after maintaining supine posture following an oral sodium loading protocol.
A Shift Toward Supercritical Brain Dynamics Predicts Alzheimer's Disease Progression.
J Neurosci
February 2025
Neuroscience Center, HiLIFE-Helsinki Institute of Life Science, University of Helsinki, Helsinki FI-00014, Finland
Alzheimer's disease (AD) is the most common form of dementia with continuum of disease progression of increasing severity from subjective cognitive decline (SCD) to mild cognitive impairment (MCI) and lastly to AD. The transition from MCI to AD has been linked to brain hypersynchronization, but the underlying mechanisms leading to this are unknown. Here, we hypothesized that excessive excitation in AD disease progression would shift brain dynamics toward supercriticality across an extended regime of critical-like dynamics.
View Article and Find Full Text PDFChanges in neurotransmitter-related functional connectivity along the Alzheimer's disease continuum.
Brain Commun
January 2025
Department of Life Sciences, Brunel University of London, UB8 3PH London, UK.
Alzheimer's disease may be associated with early dopamine dysfunction. However, its effects on neurofunctional alterations in the neurotransmission pathways remain elusive. In this study, positron emission tomography atlases and functional MRI data for 86 older adults with mild cognitive impairment Alzheimer's disease (MCI), 58 with mild Alzheimer's disease-dementia and 76 cognitively unimpaired were combined to investigate connectivity alterations associated with the dopaminergic and cholinergic systems.
View Article and Find Full Text PDFWant AI Summaries of new PubMed Abstracts delivered to your In-box?
Enter search terms and have AI summaries delivered each week - change queries or unsubscribe any time!