97,663 research outputs found
Joshua Davis: Author of Spare Parts
No full textCitation: K-State First (2016). Joshua Davis: Author of Spare Parts [Flier]. Manhattan, Kansas: K-State First.Flyer advertising Joshua Davis's author talk at Kansas State University
Finite Element Modelling of Soft Tissue Rolling Indentation
No full textWe describe a finite-element (FE) model for simulating wheel-rolling tissue deformations using a rolling FE model (RFEM). A wheeled probe performing rolling tissue indentation has proven to be a promising approach for compensating for the loss of haptic and tactile feedback experienced during robotic-assisted minimally invasive surgery (H. Liu, D. P. Noonan, B. J. Challacombe, P. Dasgupta, L. D. Seneviratne, and K. Althoefer, Rolling mechanical imaging for tissue abnormality localization during minimally invasive surgery, IEEE Trans. Biomed. Eng., vol. 57, no. 2, pp. 404-414, Feb. 2010; K. Sangpradit, H. Liu, L. Seneviratne, and K. Althoefer, Tissue identification using inverse finite element analysis of rolling indentation, in Proc. IEEE Int. Conf. Robot. Autom. , Kobe, Japan, 2009, pp. 1250-1255; H. Liu, D. Noonan, K. Althoefer, and L. Seneviratne, The rolling approach for soft tissue modeling and mechanical imaging during robot-assisted minimally invasive surgery, in Proc. IEEE Int. Conf. Robot. Autom., May 2008, pp. 845-850; H. Liu, P. Puangmali, D. Zbyszewski, O. Elhage, P. Dasgupta, J. S. Dai, L. Seneviratne, and K. Althoefer, An indentation depth-force sensing wheeled probe for abnormality identification during minimally invasive surgery, Proc. Inst. Mech. Eng., H, vol. 224, no. 6, pp. 751-63, 2010; D. Noonan, H. Liu, Y. Zweiri, K. Althoefer, and L. Seneviratne, A dual-function wheeled probe for tissue viscoelastic property identification during minimally invasive surgery, in Proc. IEEE Int. Conf. Robot. Autom. , 2008, pp. 26292634; H. Liu, J. Li, Q. I. Poon, L. D. Seneviratne, and K. Althoefer, Miniaturized force indentation-depth sensor for tissue abnormality identification, IEEE Int. Conf. Robot. Autom., May 2010, pp. 3654-3659). A sound understanding of wheel-tissue rolling interaction dynamics will facilitate the evaluation of signals from rolling indentation. In this paper, we model the dynamic interactions between a wheeled probe and a soft tissue sample using the ABAQUS FE software package. The aim of this work is to more precisely locate abnormalities within soft tissue organs using RFEM and hence aid surgeons to improve diagnostic ability. The soft tissue is modeled as a nonlinear hyperelastic material with geometrical nonlinearity. The proposed RFEM was validated on a silicone phantom and a porcine kidney sample. The results show that the proposed method can predict the wheel - tissue interaction forces of rolling indentation with good accuracy and can also accurately identify the location and depth of simulated tumor
Modelling of a soft sensor for exteroception and proprioception in a pneumatically actuated soft robot
No full text© Springer Nature Switzerland AG 2019. Soft sensors are crucial to enable feedback in soft robots. Soft capacitive sensing is a reliable technology that can be embedded into soft pneumatic robots for obtaining proprioceptive and exteroceptive feedback. In this paper, we model a soft capacitive sensor that measures both the actuated state as well as applied external forces. We develop a Finite Element Model using a multiphysics software (COMSOL®). Using this model, we investigate the change in capacitance with the application of external force, for a range of different internal pressures and strains. We hope this study is helpful in understanding the coupling of internal inputs and external stimuli on the feedback obtained from the sensors and help us design better sensory systems for soft robots
Steven Johnson Author Talk Poster
No full textK-State Book NetworkA poster advertising an author talk by Steven Johnson at Kansas State University on September 3, 2014. Steven Johnson's book "The Ghost Map" was the 2014-2015 common book
Design Analysis of a Fabric Based Lightweight Robotic Gripper
No full textThe development of grasping mechanisms for various grasping applications have enabled robots to perform a wide variety of tasks in both industrial as well as domestic applications. Soft robotic grippers have been very useful in grasping applications with an added advantage of simpler control mechanisms as compared to rigid grippers. In this paper, a two fingered gripper inspired by the fingers of a human hand is introduced. The gripper is made from fabrics and, hence, compliant, lightweight, completely foldable and boasts a high payload capability. The mechanical design of the gripper is optimized through experiments, a maximum bending angle of 180° is achieved. We demonstrate grasping of a variety of objects using the new gripper
Payload capabilities and operational limits of eversion robots
No full textRecent progress in soft robotics has seen new types of actuation mechanisms based on apical extension which allows robots to grow to unprecedented lengths. Eversion robots are a type of robots based on the principle of apical extension offering excellent maneuverability and ease of control allowing users to conduct tasks from a distance. Mechanical modelling of these robotic structures is very important for understanding their operational capabilities. In this paper, we model the eversion robot as a thin-walled cylindrical beam inflated with air pressure, using Timoshenko beam theory considering rotational and shear effects. We examine the various failure modes of the eversion robots such as yielding, buckling instability and lateral collapse, and study the payloads and operational limits of these robots in axial and lateral loading conditions. Surface maps showing the operational boundaries for different combinations of the geometrical parameters are presented. This work provides insights into the design of eversion robots and can pave the way towards eversion robots with high payload capabilities that can act from long distances
Going Beyond Counting First Authors in Author Co-citation Analysis
No full textThe present study examines one of the fundamental aspects of author co-citation analysis (ACA) - the way co-citation
counts are defined. Co-citation counting provides the data on which all subsequent statistical analyses and mappings
are based, and we compare ACA results based on two different types of co-citation counting - the traditional type that
only counts the first one among a cited work's authors on the one hand and a non-traditional type that takes into
account the first 5 authors of a cited work on the other hand. Results indicate that the picture produced through this non-traditional author co-citation counting contains more coherent author groups and is therefore considerably clearer. However, this picture represents fewer specialties in the research field being studied than that produced through the traditional first-author co-citation counting when the same number of top-ranked authors is selected and analyzed. Reasons for these effects are discussed
Experimental Data
No full textExperimental data used in the following research paper, which presents a minimally invasive wearable muscle sensing device consisting of jogging leggings, with embroidered surface EMG electrodes. Muscle activity from the quadriceps group is collected during running trials on multiple surfaces. R. B. Ribas Manero, J. Grewal, B. Michael, A. Shafti, K. Althoefer, J. Ll. Ribas Fernandez, M. J. Howard. "Wearable Embroidered Muscle Activity Sensing Device for the Human Upper Leg." EMBC (2016), In Press.<br
Highly Manoeuvrable Eversion Robot Based on Fusion of Function with Structure
No full textDespite their soft and compliant bodies, most of today’s soft robots have limitations when it comes to elongation or extension of their main structure. In contrast to this, a new type of soft robot called the eversion robot can grow longitudinally, exploiting the principle of eversion. Eversion robots can squeeze through narrow openings, giving the possibility to access places that are inaccessible by conventional robots. The main drawback of these types of robots is their limited bending capability due to the tendency to move along a straight line. In this paper, we propose a novel way to fuse bending actuation with the robot’s structure. We devise an eversion robot whose body forms both the central chamber that acts as the backbone as well as the actuators that cause bending and manoeuvre the manipulator. The proposed technique shows a significantly improved bending capability compared to externally attaching actuators to an eversion robot showing a 133% improvement in bending angle. Due to the increased manoeuvrability, the proposed solution is a step towards the employment of eversion robots in remote and difficult-to-access environments
Appropriate Similarity Measures for Author Cocitation Analysis
No full textWe provide a number of new insights into the methodological discussion about author cocitation analysis. We first argue that the use of the Pearson correlation for measuring the similarity between authors’ cocitation profiles is not very satisfactory. We then discuss what kind of similarity measures may be used as an alternative to the Pearson correlation. We consider three similarity measures in particular. One is the well-known cosine. The other two similarity measures have not been used before in the bibliometric literature. Finally, we show by means of an example that our findings have a high practical relevance.information science;Pearson correlation;cosine;similarity measure;author cocitation analysis
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