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This paper presents a new class of thin, dexterous continuum robots, which we call active cannulas due to their potential medical applications. An active cannula is composed of telescoping, concentric, precurved superelastic tubes that can be axially translated and rotated at the base relative to one another. Active cannulas derive bending not from tendon(More)
Haptic interfaces, which allow a user to touch virtual and remote environments through a hand-held tool, have opened up exciting new possibilities for applications such as computer-aided design and robot-assisted surgery. Unfortunately, the haptic renderings produced by these systems seldom feel like authentic recreations of the richly varied surfaces one(More)
(2010). High frequency acceleration feedback significantly increases the realism of haptically rendered textured surfaces. Abstract Almost every physical interaction generates high frequency vibrations, especially if one of the objects is a rigid tool. Previous haptics research has hinted that the inclusion or exclusion of these signals plays a key role in(More)
Active cannulas, so named because of their potential medical applications , are a new class of continuum robots consisting of precurved, telescoping, elastic tubes. As individual component tubes are actuated at the base relative to one another, an active cannula changes shape to minimize stored elastic energy. For the first time, we derive the differential(More)
—This paper presents a overview of the inaugural Amazon Picking Challenge along with a summary of a survey conducted among the 26 participating teams. The challenge goal was to design an autonomous robot to pick items from a warehouse shelf. This task is currently performed by human workers, and there is hope that robots can someday help increase efficiency(More)
We present a novel robotic grasp controller that allows a sensorized parallel jaw gripper to gently pick up and set down unknown objects once a grasp location has been selected. Our approach is inspired by the control scheme that humans employ for such actions, which is known to centrally depend on tactile sensation rather than vision or proprioception. Our(More)
A serotype-specific RNA biosensor was developed for the rapid detection of Dengue virus (serotypes 1-4) in blood samples. After RNA amplification, the biosensor allows the rapid detection of Dengue virus RNA in only 15 min. In addition, the biosensor is portable, inexpensive, and very easy to use, making it an ideal detection system for point-of-care and(More)
Modern haptic interfaces are adept at conveying the large-scale shape of virtual objects, but they often provide unrealistic or no feedback when it comes to the microscopic details of surface texture. Direct texture-rendering challenges the state of the art in haptics because it requires a finely detailed model of the surface's properties, real-time dynamic(More)
Heterosexual transmission of human immunodeficiency virus remains the major route of transmission worldwide; thus, there is an urgent need for additional prevention strategies, particularly those that could be controlled by women. Using cellular and tissue explant models, we have evaluated the potential activity of thiocarboxanilide nonnucleoside analogue(More)
Shape control of continuum robots requires a means of sensing the the curved shape of the robot. Since continuum robots are deformable, they take on shapes that are general curves in space, which are not fully defined by actuator positions. Vision-based shape-estimation provides a promising avenue for shape-sensing. While this is often facilitated by(More)