### Duty Cycling of Waterjet Can Improve Steerability and Radius-of-Curvature (ROC) for Waterjet Steerable Needles

Our paper on curvature control of waterjet steerable needles is accepted to be presented at ISMR 2020 and also to be published in IEEE. The contributors of this paper are Mahdieh Babaiasl, and Fan Yang under the supervision of Dr. John Swensen. The abstract of this paper is: Steerable needles are a type of medical devices that can steer around obstacles to reach a target location and thus can improve the accuracy of medical procedures. Radius-of-Curvature (ROC) is of paramount importance while designing steerable needles and achieving smaller radius and being able to control it is very important in evaluating…

### Towards Waterjet Steerable Needles

This paper measured the waterjet needle's insertion forces and compared them with a traditional needle with no waterjet running through. It is shown that incorporating a waterjet reduces the insertion force and thus buckling of the needle. The contributors for this project are Mahdieh Babaiasl, and Fan Yang under the supervision of Dr. John P. Swensen. Abstract of the Paper Towards Waterjet Steerable Needles Water-jet technology has been used extensively for decades industrially for many applications including mining, plastic, metal, stone, wood, and produce cutting. The use of water-jet in medical applications has been developed more recently and it is…

### Fracture-Directed Steerable Needles

Our paper entitled "Fracture-Directed Steerable Needles" is published in the Journal of Medical Robotics Research. The authors of this manuscript are Fan Yang, Mahdieh Babaiasl, and John Swensen. Abstract of the "Fracture-Directed Steerable Needles" Steerable needles hold the promise of improving the accuracy of both therapies and biopsies as they are able to steer to a target location around obstructions, correct for disturbances, and account for movement of internal organs. However, their ability to make late-insertion corrections has always been limited by the lower bound on the attainable radius of curvature. This project involves a new class of steerable needle…

### Predictive mechanics-based model for depth of cut (DOC) of waterjet in soft tissue for waterjet-assisted medical applications

Our new paper entitled "Predictive mechanics-based model for depth-of-cut (DOC) of waterjet in soft tissue for waterjet-assisted medical applications" is recently accepted to be published in Medical & Biological Engineering & Computing journal and is now online at the following address: Click HERE! This paper solves the fundamental physics problem of the interaction of the waterjet with the surrounding soft tissue for waterjet-assisted cutting in medical and surgical applications. Mahdieh Babaiasl, Stefano Bocelli, Yao Chen, and Fan Yang conducted this research under the supervision of Dr. John P. Swensen, and Dr. Jow-Lian Ding.  Watch a short video of the experiments below:…

### Segway Robot (Two-Wheeled Robot)

Note: Segway Robot project was done during the years 2011 - 2013 when Madi was a Master's student. Study on two-wheeled robots started in late 1990 in different robotic labs in different countries. The main objective is to design a balanced two-wheeled robot that has human-like abilities. The main research challenge in these robots is the inherent instability of their dynamical system. These robots can be used as autonomous vehicles in companies, factories, or just to transport people. Mechanical Design of Segway Robot Actuator Modeling According to Kirchhoff law: $V_a - Ri - L\frac{di}{dt} - V_e = 0$ Newton's Law…

### Shrimp Rover Robot

Note: Shrimp Rover Robot project was done during the years 2011 - 2013 when Madi was a master's student. Shrimp rover robot first introduced in 2001 for military applications: We have built a similar robot but instead of military applications, it can have rescue application by embedding Vital Sign Monitoring Sensors like CO2 sensor. The robot can also pass the obstacles by lifting the front leg. Mechanical Design Figure below shows the mechanical design of the robot: In case you are interested in re-building the robot, you can find the mechanical design in SolidWorks below: Mechanical Design in SolidWorks: Click…

### 6-Legged Robot to Mimic Ant Locomotion

Note: The Ant Robot project was done during 2011 - 2013 when Madi was a master's student. The robot built in this LINK is inspired by our Ant Robot. Abstract Ants are six-legged insects that can carry loads ten times heavier than their body weight. Since having six legs, they are intrinsically stable. They are powerful and can carry heavy loads. For these reasons, a new parallel kinematic structure is proposed for a six-legged ant robot. The mechanical structure is designed and optimized in Solidworks. The mechanism has six legs and only two DC motors actuate the six legs so…

### Sliding Mode Control of an Exoskeleton Robot for Use in Upper-Limb Rehabilitation

Note: The Sliding Mode Control of The Shoulder Rehabilitation Robot project was done during 2011 - 2013 when Madi was a master's student. Sliding-Mode Control of 3-DOF Rehabilitation Robot Abstract In this paper, the mechanical design and control of an exoskeleton robot for shoulder rehabilitation after stroke are presented. Initially, the mechanical design of a new 3 degrees of freedom (DOF) exoskeleton robot for shoulder joint rehabilitation is presented. All robot measurements are based on the properties of the upper limb of an adult person. A new open circular mechanism is proposed for the third joint. Afterward, direct and inverse…

### Mechanical Design, Simulation and Nonlinear Control of a New Exoskeleton Robot for Use in Upper-Limb Rehabilitation after Stroke

Note: The Exoskeleton Robot project was done during 2011 - 2013 when Madi was a master's student. Inverse Dynamics Controller Abstract Cerebrovascular accident (CVA) or stroke is one of the main causes of disability. It affects millions of people worldwide. One symptom of a stroke is disabled arm function. Restoration of arm function is necessary to resuming activities of daily living (ADL). Along with traditional rehabilitation techniques, robot-aided therapy has emerged in recent years. Robot-aided arm therapy is more intensive, of longer duration, and more repetitive. By using robots repetitive dull exercises can turn into more challenging and motivating tasks…

### Anthropomorphic mechanical design and Lyapunov-based control of a new shoulder rehabilitation system

Note: The Lyapunov-based control of the Rehabilitation Robot project was done during 2011 - 2013 when Madi was a Master's student. 3-DOF Shoulder Rehabilitation Robot Stroke is one of the main causes of disability. It affects millions of people worldwide. One symptom of a stroke is disabled arm function. Restoration of arm function is necessary to resuming activities of daily living (ADL). Along with traditional rehabilitation techniques, robot-aided therapy has emerged recently. The control schemes of rehabilitation robots are designed for two reasons. First, they are designed for passive rehabilitation in which the robot guides the patient's limb through a…