—Force sensing is an essential requirement for dex-terous robot manipulation. We describe composite robot end-effectors that incorporate optical fibers for accurate force sensing and location of contact locations. The design is inspired by the sensors in arthropod exoskeletons that allow them to detect contacts and loads on their limbs. We present a… (More)
— We describe the dynamic testing and control results obtained with an exoskeletal robot finger with embedded fiber optical sensors. The finger is inspired by the designs of arthropod limbs, with integral strain sensilla concentrated near the joints. The use of fiber Bragg gratings (FBGs) allows for embedded sensors with high strain sensitivity and immunity… (More)
— Fiber Bragg gratings (FBG)-based optical sensors are a promising real-time technique for sensing the 3D curvature of continuum robots. Existing implementations, however, have relied on embedding optical fibers in small-diameter metal wires or needles. This paper proposes polymer tubes as an alternative substrate for the fibers. This approach separates the… (More)
— An active needle is proposed for the development of MRI guided percutaneous procedures. The needle uses internal laser heating, conducted via optical fibers, of a shape memory alloy (SMA) actuator to produce bending in the distal section of the needle. Active bending of the needle as it is inserted allows it to reach small targets while overcoming the… (More)
Dissertation: " Optically controlled magnetic resonance imaging compatible active needle "
After genome sequence is revealed, it becomes the significant issue to discover the function of genes. The transcriptional regulatory network (TRN), which describes interactions between genes, is the key point to reveal the function of genes. The TRN can be constructed from the experimental data such as gene expression microarray data. Many computational… (More)