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 …

This paper presents a proof-of-concept soft robotic glove that provides haptic feedback to the
surgeon's hand during interventional endoscopy procedures, specifically colonoscopy. The …

This paper focuses on the problem of synthesis of spatial four-bar linkages of the RCCC type
for rigid-body guidance with four given poses, R denoting a revolute, C a cylindrical …

Colonoscopies are vital procedures allowing diagnosis of colorectal cancer and other
gastrointestinal diseases. However, excessive forces may be applied to the colon during …

The success of flexible instruments in surgery requires high motion and force fidelity and
controllability of the tip. However, the friction and the limited stiffness of such instruments …

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 …