Upper-limb Rehabilitation Robotics

Upper-limb Rehabilitation Robotics

You may have already heard about rehabilitation, or you may have used some of the services in the past, or the first thing that comes to your mind is Britney Spears. But whatever you've already had in your mind, rehabilitation refers to enhancing or restoring the movement and quality of life for people with disabilities or other impairments due to diseases or injury. By definition, rehabilitation refers to help restore movement and function to people with disabilities caused by diseases or injury. However, doing repetitive tasks for long periods of time is daunting and less intensive than needed for proper…
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Implementing Dynamics and Control of a Quadrotor in MATLAB

Implementing Dynamics and Control of a Quadrotor in MATLAB

In this post, we will implement the dynamics and control of a quadrotor in MATLAB and Simulink. Stabilizing and tracking controllers are simulated and implemented on Quadcopter. A square trajectory is specified for the tracking controller. The reference of the simulation equations is the paper "Modeling and control of quadcopter" by Teppo Luukkonen. You can download the paper HERE! It has a table of values that we will use for the simulation. Objective: Simulation of Dynamics and Control of a Quadrotor in MATLAB and Simulink The objective is to implement a simulation of the quadcopter dynamics by implementing the equations…
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Computed Torque Control of a 3R Robot Arm Playing Ping Pong

Computed Torque Control of a 3R Robot Arm Playing Ping Pong

In this post, you will find the MATLAB and Simulink codes for equations of motions of a 3R (3 revolute joints) robot, Computed Torque Control of the 3R robot arm in joint and task spaces, and the 3R robot arm playing Ping Pong. Suppose we have a 3R robot arm with 3 revolute joints pictured in the figure below: Fig. 1. A 3R (3 revolute joints) Serial Manipulator Robot The following problems are going to deal with the simulations of the equations of motion of this robot using the Lagrange-Euler method, Computed Torque Control (CTC) of the 3R robot in…
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Fuzzy PID Control of a 6-DOF Parallel robot

Fuzzy PID Control of a 6-DOF Parallel robot

In this report, you will learn about the Fuzzy PID Control of a 6-DOF Parallel robot. So, if you are interested in learning about the control of parallel robots, keep reading. Note: The contributors of this project are Madi Babaiasl, Seyyed Hamed Mahdioun, Askar Azizi, and Mehdi Dehghani Abstract Because of the sophisticated structure, parallel manipulators -unlike serial ones- have special characteristics that make them suitable for the tasks in which higher speed and acceleration with precision are required. Identifying the real geometrical parameters in the kinematic structure of a parallel robot (calibration) and simple and accurate Control method are…
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Viscoelastic Characteristics of Porcine Liver

Viscoelastic Characteristics of Porcine Liver

In this post, viscoelastic characteristics of the porcine liver are measured using rheological experiments. These data were needed for needle insertion experiments. The contributors of this project are Mahdieh Babaiasl, and Fan Yang under the supervision of Dr. John Swensen. Sample Preparation for Rheological Tests The porcine liver was obtained from the WSU's meat science lab right after slaughter to avoid the changing of tissue properties. No authorization or approval was required since the liver was qualified to be food. The liver is then put in the 0.9% Sodium Chloride solution (9g NaCl was dissolved in 700 ml water in…
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Heat Treatment of Nitinol for Different Stylet Shapes

Heat Treatment of Nitinol for Different Stylet Shapes

In this post you will learn about an approach to fabricate different stylet shapes for our proposed stylet and tube steerable needles using heat treatment of the Nitinol (a Shape Memory Alloy SMA). Our lab developed a new class of steerable needles called Stylet and Tube Steerable Needles in which the direction of the tissue fracture is controlled by the inner Stylet followed by the outer tube to help steer the needle. Stylet and Tube Steerable Needles The shape of the stylet and the step length determine the radius of curvature of the steerable needle. For this reason, we have…
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Resultant Radius of Curvature of Stylet and Tube Steerable Needles

Resultant Radius of Curvature of Stylet and Tube Steerable Needles

Our paper "Resultant Radius of Curvature of Stylet-and-Tube Steerable Needles Based on the Mechanical Properties of the Soft Tissue, and the Needle" is accepted to be published at the proceedings of the International Conference on Intelligent Robots and Systems (IROS) which is scheduled to be held on Sun, Oct 25, 2020 – Thu, Oct 29, 2020 at Las Vegas, NV (most likely it will be virtual because of the Pandemic). The contributors of this project are Fan Yang, and Mahdieh Babaiasl who conducted the research under the supervision of Dr. John Swensen. Stylet-and-Tube Steerable Needles. The combined radius of curvature…
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Fracture-directed Waterjet Needle Steering: Design, Modeling, and Path Planning

Fracture-directed Waterjet Needle Steering: Design, Modeling, and Path Planning

Our paper on fracture-directed waterjet needle steering is accepted to be presented at BioRob 2020 and also to be published in IEEE. The contributors of this paper are Mahdieh Babaiasl, Stefano Bocelli, and Fan Yang under the supervision of Dr. John Swensen. The abstract of this paper is: Steerable needle technology has the promise of improving outcomes by enhancing the accuracy of different therapies and biopsies, as they can be steered to a target location around obstacles. Achieving small radius of curvature and being able to control both radius of curvature and tip travel are of paramount importance in steerable…
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Duty Cycling of Waterjet Can Improve Steerability and Radius-of-Curvature (ROC) for Waterjet Steerable Needles

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 to 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…
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Towards Waterjet Steerable Needles

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 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 used…
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