3 papers indexed
Léonie Plancoulaine, Sylvain Guégan, Franck Plestan, Damien Chablat
This paper presents an innovative design and stability analysis of an underactuated robotic finger with spatial mobility, designed to enhance gripping dexterity in robotic hands. The finger architecture incorporates a revolute joint at its base, enabling passive spatial rotation…
This paper introduces a twist decomposition framework for serial manipulators performing lower mobility tasks. Rather than relying on Jacobian null-space projections, the method separates the end-effector twist into task and redundant components using geometrically defined twist…
Florin Covaciu, Bogdan Gherman, Nadim Al Hajjar, Ionut Zima, Calin Popa, Alexandru Pusca, et al.
Manual alignment between the trocar, surgical instrument, and robot during minimally invasive surgery (MIS) can be time-consuming and error-prone, and many existing systems do not provide autonomous localization and pose estimation. This paper presents an artificial intelligence…