Research
Research
Research
Research
829+ open-access research outputs.
Tendon-Driven Continuum Robots (TDCRs) pose significant control challenges due to their highly nonlinear, path-dependent dynamics and non-Markovian characteristics. Traditional Jacobian-based controll…
Tendon-Driven Continuum Robots (TDCRs) pose significant modeling and control challenges due to complex nonlinearities, such as frictional hysteresis and transmission compliance. This paper proposes a …
Gadoxetate disodium-enhanced MRI is essential for the detection and characterization of hepatocellular carcinoma. However, acquisition of the hepatobiliary phase (HBP) requires a prolonged post-contra…
Wrist function is essential in performing activities of daily living (ADLs). However, there is limited experimental evidence on the functional impact of wrist Abduction-Adduction (Ab-Ad) joint assista…
Wrist exoskeletons play a vital role in rehabilitation and assistive applications, yet conventional actuation mechanisms such as electric motors or pneumatics often introduce undesirable weight, frict…
This paper presents an AI-enabled cascaded hybrid vision/force control framework for tendon-driven aerial continuum manipulators based on constant-strain modeling in $SE(3)$ as a coupled system. The p…
Spinning flexible objects, exemplified by traditional Chinese handkerchief performances, demands periodic steady-state motions under nonlinear dynamics with frictional contacts and boundary constraint…
Robotic manipulators for aerospace applications require a delicate balance between lightweight construction and fault-tolerant operation to satisfy strict weight limitations and ensure reliability in …
In tendon driven continuum manipulators (TDCMs), reconfiguring the tendon routing enables tailored spatial deformation of the backbone. This work presents a design in which tendons can be rerouted eit…
Prediction markets are starting to look less like crowd polls and more like electronic markets. The central question is therefore no longer only whether these markets forecast well, but what happens w…
This study develops a Bayesian, uncertainty-aware framework for tendon breakage localization in pre-stressed concrete members using high-resolution data from distributed fiber-optic sensors (DFOS). DF…
Large volumes of medical data remain underutilized because centralizing distributed data is often infeasible due to strict privacy regulations and institutional constraints. In addition, models traine…
Steerable needles have the potential to improve interstitial brachytherapy by enabling curved trajectories that avoid sensitive anatomical structures. However, existing modeling and control approaches…
Diabetic Retinopathy (DR) is a serious microvascular complication of diabetes, and one of the leading causes of vision loss worldwide. Although automated detection and grading, with Deep Learning (DL)…
Lack of accessible and dexterous robot hardware has been a significant bottleneck to achieving human-level dexterity in robots. Last year, we released Ruka, a fully open-sourced, tendon-driven humanoi…
Accurate lesion segmentation is essential in medical image analysis, yet most existing methods are designed for specific anatomical sites or imaging modalities, limiting their generalizability. Recent…
Early screening via colonoscopy is critical for colon cancer prevention, yet developing robust AI systems for this domain is hindered by the lack of densely annotated, long-sequence video datasets. Ex…
This paper presents the design, modeling, and fabrication of 3D-printed, tendon-actuated continuum robots featuring a flexible, tapered backbone constructed from thermoplastic polyurethane (TPU). Our …
In this work, we propose an unsupervised domain adaptation (UDA) framework for 3D volumetric lesion detection that adapts a detector trained on labeled FDG PET/CT to unlabeled PSMA PET/CT. Beyond cova…
We introduce CRAFT hand, a tendon-driven anthropomorphic hand with hybrid hard-soft compliance for contact-rich manipulation. The design is based on a simple idea: contact is not uniform across the ha…
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