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MR Safe Robotic Manipulator for MRI-Guided Intracardiac Catheterization
  • K. Lee, K. D. Fu, +6 authors K. Kwok
  • Computer Science
  • IEEE/ASME Transactions on Mechatronics
  • 6 February 2018
A robotic manipulator to realize robot-assisted intracardiac catheterization in magnetic resonance imaging (MRI) environment is introduced and the first MR Safe robot is presented, designed particularly for cardiac electrophysiological (EP) intervention. Expand
Analysis of Motor Synergies Utilization for Optimal Movement Generation for a Human-like Robotic Arm
This paper shows that goal-directed movements can be achieved by utilizing motor synergies which have properties of achieving the goals and shows that energy efficiency is an important aspect in motor synergie which can also be utilized to achieve goal- directed movements. Expand
Extracting motor synergies from random movements for low-dimensional task-space control of musculoskeletal robots.
This paper proposes to extract motor synergies from a subset of randomly generated reaching-like movement data, and presents a kernel-based regression formulation to estimate the forward and the inverse dynamics, and a sliding controller in order to cope with estimation error. Expand
Studies of motor synergies in generating optimal goal-directed movements in human-like robotic arm
Performance of motor synergies in application of generating goal-directed movements using optimal control is examined and results show that computational expense could be reduced while success rate is maintained, when motor synergy with properties of achieving goal optimally are utilized. Expand