Over the last two decades, smart materials have received significant attention over a broad
range of engineering applications because of their unique and inherent characteristics for …

Novel compliant actuation systems have been developed in recent years for a variety of
possible advantages, such as establishing a safe human–robot interaction, increasing …

Over the last two decades, the foundations for physical human–robot interaction (pHRI) have
evolved from successful developments in mechatronics, control, and planning, leading …

We introduce DextrES, a flexible and wearable haptic glove which integrates both
kinesthetic and cutaneous feedback in a thin and light form factor (weight is less than 8g) …

The robot-assisted endovascular catheterization system (RAECS) has the potential to
address some of the procedural challenges and separate interventionalists from the X-ray …

Clutches can be used to enhance the functionality of springs or actuators in robotic devices.
Here we describe a lightweight, low-power clutch used to control spring engagement in an …

Actuators that employ clutches can exhibit mechanical impedance tuning and improved
energy efficiency. However, these integrated designs have been difficult to achieve in …

Materials with electroprogrammable stiffness and adhesion can enhance the performance of
robotic systems, but achieving large changes in stiffness and adhesive forces in real time is …

In this paper, a novel robot-assisted catheter operating system (RCOS) has been proposed
as a method to reduce physical stress and X-ray exposure time to physicians during …

In this paper, a magnetorheological (MR) fluids based haptic interface has been developed
in master site to provide the haptic sensation to the interventionalist during endovascular …