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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)
— Active cannulas are remotely actuated thin continuum robots with the potential to traverse narrow and winding environments without relying on " guiding " environmental reaction forces. These features seem ideal for procedures requiring passage through narrow openings to access air-filled cavities (e.g. surgery in the throat and lung). Composed of(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.(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)
Sliding a probe over a textured surface generates a rich collection of vibrations that one can easily use to create a mental model of the surface. Haptic virtual environments attempt to mimic these real interactions, but common haptic rendering techniques typically fail to reproduce the sensations that are encountered during texture exploration. Past(More)
— Needles are commonly used in medical practice as a minimally invasive means to reach subsurface targets for diagnosis or therapy delivery. Recent results indicate that steerable needles may enhance targeting accuracy and allow needles to avoid obstacles along the path to the target. This work considers teleoperation of needles made of a superelastic alloy(More)