The leg mechanism of the novel jumping robot, Salto, is designed to achieve multiple
functions during the sub-200 ms time span that the leg interacts with the ground, including …

The implementation of flexible instruments in surgery necessitates high motion and force
fidelity and good controllability of the tip. However, the positional accuracy and the force …

Flexible instruments are increasingly used to perform advanced and complex surgical
procedures either manually or robotically. The success of flexible instruments in surgery …

Robird is a robot bird which mimics flapping motion by two con rod mechanisms per wing
which transform motor rotational motion into flapping, ie plunging and pitching. The latter …

A kinematic clamp uses three-vee or tetrahedron-vee-flat and spherical ball contacts to
achieve six constraints. In this paper, we designed 3-D kinematic clamps using three pairs of …

The force transmission of a flexible instrument through an endoscope is considerably
deteriorated due to friction between the contacting surfaces. Friction force along the axial …

The force transmission of a flexible instrument through an endoscope is deteriorated due to
friction between the contacting surfaces. Friction force along the axial direction can be …