Low cost devices such as RFIDs, sensor network nodes, and smartcards are crucial for
building the next generation pervasive and ubiquitous networks. The inherent power and …

The real-time teleoperation or telemanipulation of redundant snakelike robots for minimally
invasive surgery in a master-slave configuration is a complex problem. There are many …

This letter uses vector field inequalities (VFI) to prevent robot self-collisions and collisions
with the workspace. Differently from previous approaches, the method is suitable for both …

Vitreoretinal surgery is challenging even for expert surgeons owing to the delicate target
tissues and the diminutive workspace in the retina. In addition to improved dexterity and …

Manipulators may often endure large-scale potential energy variations during kinematic
control, producing unsafe oscillations of posture-hold effects. In this brief, for the first time, a …

Robotic assistance allows surgeons to perform dexterous and tremor-free procedures, but is
still underrepresented in deep brain neurosurgery and endonasal surgery where the …

This paper presents some improvements to the robot kinematic control strategy based on
linear programming, as well as its application to a nonholonomic mobile manipulator. In …

In this article, we propose an algorithm for computing a smoothed version of the distance
between two objects. As opposed to the traditional Euclidean distance between two objects …

Commercially available surgical-robot technology currently addresses many surgical
scenarios for adult patients. This same technology cannot be used to the benefit of neonate …

This article presents a new kinematic control paradigm for redundant robots based on
optimization. The general approach takes into account convex objective functions with …