Analysis, Dynamics and Control of Robotic System for Docking to Orbital Space Systems

Space exploration and exploitation requires the simultaneous coexistence of people and machines. The human need for more information has made the use of satellites important. The need of satellites that can perform for longer time becomes increasingly evident.

Design and Modelling of a Continuum Robot for Lung Sampling in Critical Care

We designed and manufactued a novel robotic bronchoscope for sampling of distal lung in mechanically-ventilated (MV) patients in critical care units. The mortality rate for MV patients with suspected pneumonia approaches 40%.

Design and Quasistatic Modelling of Hybrid Continuum Multi-Arm Robots

Continuum surgical robots can navigate anatom-ical pathways to reach pathological locations deep inside thehuman body. Their flexibility, however, generally comes withreduced dexterity at their tip and limited workspace. Buildingon recent work on eccentric tube robots, this paper proposes anew continuum robot architecture that combines the flexibilityof push/pull actuated snake robots and the dexterity offeredby concentric tube robotic end-effectors.

Mechanical Design of a Continuum Robot for Deep Orbital Interventions

This project is on the development of the first medical robotic system for Optic Nerve Sheath Fenestration (ONSF) and generally deep orbital interventions. ONSF is a currently invasive ophthalmic surgical approach that can reduce potentially blinding elevated hydrostatic intracranial pressure on the optic disc via an incision on the optic nerve.

On Impedance Control For Landing Mechanisms On Comets And Planets

Recent successes of missions, such as the Rosetta, have increased the interest in the robotic exploration of other planets and asteroids. Although, in most landers passive landing systems are used, bouncing due to inappropriate descent speed and hardware malfunction have been observed in cases such as that of the Philae.

Towards Modelling Multi-Arm Robots-Eccentric Arrangement of Concentric Tubes

We developed a quasistatic mechanics-based model that describes the shape of concentric tube robotic (CTR) arms when they are eccentrically arranged along an also-flexible backbone. The model can estimate the shape of both the backbone and CTR arms, and can accommodate an arbitrary number of CTR arms arranged in an eccentric position with regards to the backbone’s neutral axis.