• Research

  • Soft Fiber-reinforced Bending Actuators

    Soft fluidic actuators consisting of elastomeric matrices with embedded flexible materials are of particular interest to the robotics community because they are affordable and can be easily customized to a given application. However, the significant potential of such actuators is currently limited as their design has typically been based on intuition. In this work, a soft bending actuator consisting of a hemi-cylindrical composite tube with anisotropic bulk material properties consisting of elastomer with embedded helically wound fibers and a thin flexible sheet is presented.

  • Surgical Retractors

    Soft-actuated Minimally Invasive Surgical Retractors

    Minimally invasive surgery (MIS) is a surgical technique that uses several small incisions—between 5mm and 15mm—rather than a single large incision to operate on tissues. While MIS provides a number of benefits over traditional open surgeries—including reduced pain and recovery times—significant time is spent mobilizing organs (removing the connective tissues that keep organs in place) and retracting them so that the organs of interest can be accessed during more complex procedures.

  • Wearable Gait Analysis System for Overstriding in Runners

    The wearable gait analysis system highlighted in this project is designed to monitor running gait without extensive equipment, thus shifting gait analysis out of training centers and giving runners the opportunity to correct their gait independently. This project features IMU technology to specifically target and reduce overstride in runners. By monitoring the shank angles throughout the cycle and determining the overstride angle at time of impact.

  • Sensing Suit to Encourage Motion in Developmentally Delayed Infants

    The soft wearable sensing suit presented in this work is an early intervention treatment that will encourage kicking, improving joint coordination and gait development, and can be used as a precautionary treatment for at risk infants even before an official diagnosis is possible.

  • Force sensing

    Force Sensing for Robotic Cardiac Catheterisation Procedures Under MRI Guidance

    Cardiac arrhythmia is a serious heart condition with potentially fatal consequences, if untreated. A large number of people worldwide are affected by it. In the United States of America alone, the number of cardiac arrhythmia cases is estimated to around 1% of the overall population. The current treatment approach is to subject patients to a minimally invasive procedure, called cardiac ablation. During this procedure physicians with the visual aid of an x-ray fluoroscope insert catheters through small openings in the blood arteries of the patient.

  • Design and control of a stereo-vision robot head

    This project presents an endeavor to mimic human vision by designing, building and controlling a robotic head with stereo-vision that uses low-priced web cameras, motors and controller. The objectives are to investigate and to compare different existing pan-tilt mechanisms in order to come up with a solution that is both affordable and accurate to build a robot head. The system intends to provide the robot head with all the information required to track and follow the tip of a 6 DOF small manipulator while in operation.

  • Design and Fabrication of a Wheeled Robot Suitable for Greenhouse Works

    History has shown that robots are usually used in environments where a human cannot cope to work. Greenhouses are considered to be such environments where humans are called to perform hazardous and tedious operations. Therefore, there is a pressing need to use robots in greenhouses in order to perform tasks such as, harvesting, monitoring, and spraying of fruits. This project deals with the design and fabrication of a wheeled robot suitable for works inside greenhouses.

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