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Telesurgery is an interdisciplinary field of teleoperated robotics and robot-assisted minimally invasive surgery, and has good promising future. In this work, the structure and work flow of the tele-neurosurgery are addressed at first. Then the key technologies involved, including our newly developed surgical robot, untouched methodology in localizing marks(More)
The goal of this paper is to study haptic skill representation and display in a Chinese calligraphy training system. The challenge is to model haptic skill during the writing of different strokes in Chinese characters and to achieve haptic rendering with high fidelity and stability. The planning of the writing process is organized at three levels: task,(More)
Animal models are indispensable to understand the lipid metabolism and lipid metabolic diseases. Over the last decade, the nematode Caenorhabditis elegans has become a popular animal model for exploring the regulation of lipid metabolism, obesity, and obese-related diseases. However, the genomic and functional conservation of lipid metabolism from C.(More)
This paper presents an interactive exoskeleton device for hand rehabilitation, iHandRehab, which aims to satisfy the essential requirements for both active and passive rehabilitation motions. iHandRehab is comprised of exoskeletons for the thumb and index finger. These exoskeletons are driven by distant actuation modules through a cable/sheath transmission(More)
This paper presents the fomulation of the inverse kinematics and dvnamics of the1 3-RRS parallel platform with three degrees of freedom. For inverse kinematics, The position analysis is firs fly performed. Then the differential motion constraint vquations of the movable platform are established, based on which the velocity and acceleration formulae of leg(More)
A new method to realize stable and realistic cutting simulation using an impedance display haptic device and microcomputer is presented in this paper. Material removal or cutting simulation is a critical task in dental preparation surgery simulation. In this paper, a piecewise contact force model is proposed to approximately describe the cutting process.(More)
Six-degree-of-freedom (6-DOF) haptic rendering for fine manipulation in narrow space is a challenging topic because of frequent constraint changes caused by small tool movement and the requirement to preserve the feel of fine-features of objects. In this paper, we introduce a configuration-based constrained optimization method for solving this rendering(More)
This paper presents a new exoskeleton with 4 degrees of freedom (DOF) for index finger rehabilitation. The device can generate bi-directional movement for all joints of the finger through cable transmission, which is required for passive and active trainings. With two prismatic kinematic joints in the design, it can accommodate to some extent variety of(More)
—This paper investigates the control algorithm of an exoskeleton for hand rehabilitation, which accomplishes both active and passive control mode. A double closed loop control structure is developed, which consists of position control loop and compensation control loop. The position controller is based on impedance control. The compensation controller is(More)