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1
Joshi, Gaurav. "Innovations in Soft Robotics: Design and Control of Flexible Mechatronic Systems." Mathematical Statistician and Engineering Applications 70, no. 1 (January 31, 2021): 479–85. http://dx.doi.org/10.17762/msea.v70i1.2500.
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Soft robotics, an emerging field at the intersection of robotics and materials science, has gained significant attention in recent years due to its potential for creating highly adaptable and versatile robotic systems. Unlike traditional rigid robots, soft robotics focuses on designing and controlling flexible mechatronic systems that can mimic the natural movements and interactions of living organisms. This paper presents an overview of the recent innovations in soft robotics, specifically focusing on the design and control aspects of flexible mechatronic systems.The design of soft robots involves the integration of advanced materials and mechanisms that enable compliance and flexibility in the robot's body structure. Various materials, such as elastomers, hydrogels, and shape-memory polymers, have been explored for constructing soft robotic components that can deform and recover their shape. These materials exhibit unique properties, such as stretchability, elasticity, and self-healing capabilities, allowing soft robots to adapt to complex and dynamic environments. Additionally, the design of soft robotic systems often incorporates pneumatic or hydraulic actuation mechanisms to achieve locomotion and manipulation.In conclusion, this paper provides an overview of the recent innovations in soft robotics, focusing on the design and control of flexible mechatronic systems. Soft robots have the potential to revolutionize various fields by providing adaptive and versatile robotic systems. The integration of advanced materials, novel actuation mechanisms, and innovative control strategies has paved the way for the development of soft robots with remarkable capabilities. However, further research is needed to address the existing challenges and unlock the full potential of soft robotics in practical applications.
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Mukherjee, Anshit, Gunjan Mukherjee, Monalisa Halder, and Kamal Kumar Ghosh. "ChatGPT: A Breakthrough in Developing Human-Like Robots with Natural Language Capabilities." INTERANTIONAL JOURNAL OF SCIENTIFIC RESEARCH IN ENGINEERING AND MANAGEMENT 08, no. 01 (January 4, 2024): 1–13. http://dx.doi.org/10.55041/ijsrem27928.
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Robotic systems often require engineers to write code to specify the desired behaviour of the robots. This process is slow, costly, and inefficient, as it involves multiple iterations and manual tuning. ChatGPT is a tool that leverages a large language model (LLM) to enable natural language interaction, code generation, and learning from feedback for robotic applications. ChatGPT allows users, who may not have technical expertise, to provide high-level instructions and feedback to the LLM, while observing the robot's performance. ChatGPT can produce code for various scenarios of robots, using the LLM's knowledge to control different robotic factors. ChatGPT can also be integrated with other platforms, such as Snapchat and Duolingo, to enhance the user experience and management. ChatGPT is a novel tool that facilitates a new paradigm in robotics, where users can communicate with and teach robots using natural language. Keywords: ChatGPT, Large Language Model, Natural Language Processing, Human Robot Interaction
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Khattab, Afraa, and Csaba Felhő. "Robotic systems for advanced additive manufacturing." Multidiszciplináris Tudományok 14, no. 2 (December 1, 2024): 201–19. https://doi.org/10.35925/j.multi.2024.2.20.
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Additive manufacturing (AM) has revolutionized the way we layout and manufacture products. The inception of complicated geometries immediately from virtual models gives more freedom and flexibility. However, AM systems have boundaries in terms of building volume, space, and the capability to manufacture multi-material and multi-practical items. A mixture of robotics and AM has emerged as a promising solution. The robotic tool of AM expands its capabilities via the growing toolpath strategies and robotic trajectories, paving the way for the advent of large, more complicated, and functionally included factors. This review paper explores the current-day robotic structures of AM, outlining advantages and challenges, and highlighting studies’ achievements.
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Dipali Ghatge, Pratham Patil, Atharva Algude, Shubhangi Chikane, and Atharv Dhotre. "Interactive Robotic Arm Simulation." International Research Journal on Advanced Engineering Hub (IRJAEH) 2, no. 06 (June 15, 2024): 1665–68. http://dx.doi.org/10.47392/irjaeh.2024.0229.
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In the dynamic landscape of robotics and artificial intelligence, this research pioneers a groundbreaking fusion of simulation technology and advanced machine learning, specifically reinforcement learning, to enhance robotic arm capabilities. The focus centers on the utilization of a cutting-edge simulator, powered by the PyBullet physics engine, to faithfully replicate the intricate dynamics of a robotic arm within a digital environment. Serving as an experimental ground, the simulator enables the robotic arm to navigate, manipulate objects, and dynamically engage with its surroundings. Through a symbiotic relationship between simulation technology and reinforcement learning, this research focuses on an adaptive learning approach. This approach accelerates the robotic arm's skill acquisition, refining critical aspects such as precision, speed, and adaptability. The project contributes to the evolution of robotic arm capabilities, paving the way for more autonomous, versatile, and adept robotic systems in the realm of artificial intelligence and robotics.
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Fatoye, Joseph. "Enhancing Robotics with Cognitive Capabilities." Proceedings of the AAAI Conference on Artificial Intelligence 38, no. 21 (March 24, 2024): 23738–39. http://dx.doi.org/10.1609/aaai.v38i21.30547.
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In the pursuit of creating more effective and adaptable robots, the flourishing field of cognitive robotics has arisen to infuse machines with human-like cognitive functions. This paper delves into the significance of cognitive robotics and charts a course for empowering robots with advanced cognitive capabilities. Drawing inspiration from current research in cognitive architectures, the paper underscores the importance of refined perception, language processing, complex decision-making, emotional intelligence, and cognitive synergy. By integrating these cognitive functions into robotic systems, the goal is to equip robots to operate intelligently in dynamic environments, collaborate seamlessly with humans, and adeptly handle diverse tasks. The proposed enhancements mark crucial strides towards the development of more versatile and capable intelligent robots.
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Khanna, Omaditya, Ryan Beasley, Daniel Franco, and Simon DiMaio. "The Path to Surgical Robotics in Neurosurgery." Operative Neurosurgery 20, no. 6 (May 13, 2021): 514–20. http://dx.doi.org/10.1093/ons/opab065.
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Abstract Robotic systems may help efficiently execute complicated tasks that require a high degree of accuracy, and this, in large part, explains why robotics have garnered widespread use in a variety of neurosurgical applications, including intracranial biopsies, spinal instrumentation, and placement of intracranial leads. The use of robotics in neurosurgery confers many benefits, and inherent limitations, to both surgeons and their patients. In this narrative review, we provide a historical overview of robotics and its implementation across various surgical specialties, and discuss the various robotic systems that have been developed specifically for neurosurgical applications. We also discuss the relative advantages of robotic systems compared to traditional surgical techniques, particularly as it pertains to integration of image guidance with the ability of the robotic arm to reliably execute pre-planned tasks. As more neurosurgeons adopt the use of robotics in their practice, we postulate that further technological advancements will become available that will help achieve improved technical capabilities, user experience, and overall patient clinical outcomes.
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Baddam, Parikshith Reddy. "Surgical Robotics Unveiled: The Robotic Surgeon's Role in Modern Surgical Evolution." ABC Journal of Advanced Research 8, no. 2 (December 31, 2019): 131–44. http://dx.doi.org/10.18034/abcjar.v8i2.718.
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This article delves into the transformative impact of surgical robotics on modern medical practices, unveiling the pivotal role of robotic surgeons in the ongoing evolution of surgery. Through a comprehensive exploration of cutting-edge technologies, the paper investigates how robotic systems enhance precision, minimize invasiveness, and contribute to improved patient outcomes. By scrutinizing recent advancements in robotic-assisted procedures, the article sheds light on the integration of artificial intelligence, machine learning, and advanced imaging technologies in surgical workflows. Emphasizing the collaborative nature of human-robot teams, the discussion highlights the synergy between skilled surgeons and robotic counterparts, emphasizing the potential for enhanced surgical capabilities. Furthermore, the article addresses challenges and ethical considerations associated with the widespread adoption of robotic surgery. In essence, this exploration offers a nuanced understanding of how surgical robotics is shaping the landscape of modern healthcare, offering a glimpse into the future trajectory of this rapidly evolving field.
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Ramos, Leonardo, Gabriel Lisbôa Guimarães Divino, Guilherme Cano Lopes, Breno Bernard Nicolau De França, Leonardo Montecchi, and Esther Luna Colombini. "The RoCS Framework to Support the Development of Autonomous Robots." Journal of Software Engineering Research and Development 7 (December 21, 2019): 10. http://dx.doi.org/10.5753/jserd.2019.470.
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With the expansion of autonomous robotics and its applications (e.g. medical, competition, military), the biggest hurdle in developing mobile robots lies in endowing them with the ability to interact with the environment and to make correct decisions so that their tasks can be executed successfully. However, as the complexity of robotic systems grows, the need to organize and modularize software for their correct functioning also becomes a challenge, making the development of software for controlling robots a complex and intricate task. In the robotics domain, there is a lack of reference software architectures and, although most robot architectures available in the literature facilitate the creation process with their modularity, existing solutions do not provide development guidance on reusing existing modules. Based on the well-
known IBM Autonomic Computing reference architecture (known as MAPE-K), this work defines a refined architecture following the Robotics perspective. To explore the capabilities of the proposed refinement, we implemented the RoCS (Robotics and Cognitive Systems) framework for autonomous robots. We successfully tested the framework under simulated robotics scenarios that mimic typical robotics tasks and evidence the framework reuse capability. Finally, we understand the proposed framework needs further experimental evaluation, particularly, assessments on real-world scenarios.
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Wei, Yufei, Xiaotong Nie, Motoaki Hiraga, Kazuhiro Ohkura, and Zlatan Car. "Developing End-to-End Control Policies for Robotic Swarms Using Deep Q-learning." Journal of Advanced Computational Intelligence and Intelligent Informatics 23, no. 5 (September 20, 2019): 920–27. http://dx.doi.org/10.20965/jaciii.2019.p0920.
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In this study, the use of a popular deep reinforcement learning algorithm – deep Q-learning – in developing end-to-end control policies for robotic swarms is explored. Robots only have limited local sensory capabilities; however, in a swarm, they can accomplish collective tasks beyond the capability of a single robot. Compared with most automatic design approaches proposed so far, which belong to the field of evolutionary robotics, deep reinforcement learning techniques provide two advantages: (i) they enable researchers to develop control policies in an end-to-end fashion; and (ii) they require fewer computation resources, especially when the control policy to be developed has a large parameter space. The proposed approach is evaluated in a round-trip task, where the robots are required to travel between two destinations as much as possible. Simulation results show that the proposed approach can learn control policies directly from high-dimensional raw camera pixel inputs for robotic swarms.
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Tselegkaridis, Sokratis, and Theodosios Sapounidis. "Simulators in Educational Robotics: A Review." Education Sciences 11, no. 1 (January 1, 2021): 11. http://dx.doi.org/10.3390/educsci11010011.
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Educational robotics (ER) seems to have a positive effect on students and, in many cases, might help them to successfully assimilate knowledge and skills. Thus, this paper focuses on ER and carries out a literature review on educational robotics simulators with Graphical User Interfaces (GUIs). The review searches for relevant papers which were published in the period 2013–2020 and extracted the characteristics of the simulators used. The simulators that we describe in this article cover various robotic technologies, offering students an easy way to engage with virtual robots and robotics mechanisms, such as wheeled robots or drones. Using these simulators, students might cover their educational needs or prepare themselves for educational robotic competitions by working in as realistic as possible conditions without hardware restrictions. In many cases, simulators might reduce the required cost to obtain a robotic system and increase availability. Focusing on educational robotics simulators, this paper presents seventeen simulators emphasizing key features such as: user’s age, robot’s type and programming language, development platform, capabilities, and scope of the simulator.
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Princewill, Nwadinobi Chibundo, Takim Steve, and Omajuwa Edesemi Omawumi. "Development and implementation of a wireless-controlled robotic arm for lifting applications with 6 DOF." Future Technology 3, no. 1 (February 15, 2024): 25–31. http://dx.doi.org/10.55670/fpll.futech.3.1.3.
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This paper is centered on the design and construction of a Bluetooth-controlled robotic arm with 6 degrees of freedom. It is capable of manipulating given objects as well as lifting and conveying a payload from one point to another. Any smartphone that possesses an Android operating system can be used for remote operations. This offers a background look at robotic arms, from invention to current trend as well as simplification of design to make it more accessible to robotics enthusiasts. The design process for the robotic arm is chronicled in this paper, from the working principle to the development of the kinematic equations, as well as CAD modeling and component selection. Tests are also conducted to ascertain the robot’s strength and range of capabilities. The availability of this robotic arm would serve as an indispensable learning tool for experimenting with robotics in training institutions.
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Kumar, Mr J. Likhin. "FABRICATION AND ANALYSIS OF AUTOMATIC LINEAR DISTANCE ADJUSTER." INTERANTIONAL JOURNAL OF SCIENTIFIC RESEARCH IN ENGINEERING AND MANAGEMENT 08, no. 05 (May 5, 2024): 1–5. http://dx.doi.org/10.55041/ijsrem32965.
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The Automatic linear distance adjustment system tailored for robotics arms, capitalizing on ultrasonic sensor technology. The system's design, implementation, and evaluation are comprehensively explored, highlighting its ability to facilitate precise and autonomous adjustments of linear positions within the robotic arm's operational envelope. Real-time feedback mechanisms are integrated, enabling dynamic regulation of the distance between the end-effector and target objects or surfaces. This ensures optimal positioning and operational efficiency during various tasks such as pick-and-place operations, assembly processes, and object manipulation. By reducing reliance on manual adjustments, the system enhances automation and augments robotics arms' capabilities across diverse industrial and research applications. The seamless integration of the proposed system empowers robotics arms with heightened flexibility, accuracy, and adaptability, thereby fostering advancements in robotic automation and control. This innovation holds promise for streamlining manufacturing processes, enhancing productivity, and facilitating intricate tasks that demand precision and efficiency in robotic operations. Through rigorous evaluation and validation, the system demonstrates its potential to revolutionize robotic arm functionalities and pave the way for future developments in automation technologies Keywords: Arduino Uno , Ultrasonic sensor,Stepper Motor, Linear guide rail .
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Hong, Sen-Yuan, and Bao-Long Qin. "Recent Advances in Robotic Surgery for Urologic Tumors." Medicina 60, no. 10 (September 25, 2024): 1573. http://dx.doi.org/10.3390/medicina60101573.
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This review discusses recent advances in robotic surgery for urologic tumors, focusing on three key areas: robotic systems, assistive technologies, and artificial intelligence. The Da Vinci SP system has enhanced the minimally invasive nature of robotic surgeries, while the Senhance system offers advantages such as tactile feedback and eye-tracking capabilities. Technologies like 3D reconstruction combined with augmented reality and fluorescence imaging aid surgeons in precisely identifying the anatomical relationships between tumors and surrounding structures, improving surgical efficiency and outcomes. Additionally, the development of artificial intelligence lays the groundwork for automated robotics. As these technologies continue to evolve, we are entering an era of minimally invasive, precise, and intelligent robotic surgery.
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Tian, Hong Bin. "The Research on the Visual Obstacle-Avoidance Optimization in Robots Control." Advanced Materials Research 756-759 (September 2013): 372–75. http://dx.doi.org/10.4028/www.scientific.net/amr.756-759.372.
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In order to increase the movement capability of the robotic visual system in three-dimension space, the paper designs an obstacle-avoidance algorithm based on robotic movement visual by effectively processing the visual information colleted by the robotics. This paper establishes a structural model of coordination control system. The obstacles can be effectively identified and avoided by the obstacle-avoidance theory in the robotics coordination operation. The mathematical model of the obstacle-avoidance algorithm can predict the locations of the obstacles. The experiment proves the proposed algorithm can avoid the obstacles in three-dimension space and the accuracy is very high.
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Barasa, Samuel, and Yonah Etene. "Robotics in Food Manufacturing Industry in the Industry 4.0 Era." International Journal of Computer Science and Mobile Computing 12, no. 8 (August 30, 2023): 72–77. http://dx.doi.org/10.47760/ijcsmc.2023.v12i08.009.
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Robotics is used in food manufacturing in multiple processes. Prominent existing applications are: preparation of soil, seeding, water sprinklers, harvest controlling, cutting the harvests, food extractions, processing, packaging, loading/unloading, food warehouse operations, and food retail operations. Robots enhancements in Industry 4.0 framework have enabled cognitive and collaboration capabilities related to dynamics, kinematics, self-diagnostics, and self-control. Robots can identify and change their robotic hands as per process requirement. Robotics in food manufacturing is used to improve food quality and hygiene, increasing quality and its consistency, improving process performance, improving production rate and productivity, production reconfigurability, improving supply chain resilience and responsiveness, improving food traceability, reducing food loss and wastage, and improving workplace safety. Industry 4.0 allows robotic cyber physical systems (RCPS), HMI interfacing with robots through augmented reality thus ensuring remote real time precision monitoring and control of field robots. Robots with attached cameras with machine learning for image visualization analytics can ensure quality assurance and control of food products during all the stages of the food manufacturing logistics. The key drivers for adopting robotics in food manufacturing are cloud manufacturing, Internet of Things (attached with robotic controller cards), virtual reality simulations, augmented reality for HMI controls, additive manufacturing in food processing, integration of Industry 4.0 systems (IoT with blockchains, edge computing, big data analytics, and machine learning), and autonomous automation software. Robotics in food manufacturing using Industry 4.0 capabilities is a positive change. However, there are ethical and financial challenges. Increased usage of robotics can affect employment of food harvesting and manufacturing workers in developed as well as developing economies. Further, economics of using robotics in food manufacturing is not yet justified in developing nations given the high initial costs and prolonged time to break even. Overall, robotics in food manufacturing using Industry 4.0 has many technical and production advantages but ethical and financial viability is an ongoing research domain.
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Lu, Yuang. "Adaptable robotics for disaster response and search & rescue: Integration of deformable smart car design and pi control." Applied and Computational Engineering 62, no. 1 (May 20, 2024): 95–103. http://dx.doi.org/10.54254/2755-2721/62/20240389.
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In the context of disaster response and search and rescue operations, the need for adaptable and efficient robotic systems has become increasingly evident. This research paper addresses the evolving challenges in this domain by introducing a novel DIY deformable robot equipped with advanced PI (Proportional-Integral) control. The background of this study emerges from the growing urgency to enhance the capabilities of robotics in post-disaster scenarios, where navigation through complex terrains and the swift delivery of supplies are paramount.The primary objective of this paper is to develop and assess a versatile robotic platform using a multidisciplinary approach encompassing mechanical engineering, electronics, and control systems. The core of the investigation is a DIY deformable car consisting of two sensor-equipped containers and a linking module, making it well-suited for search and rescue missions. This paper contains the implementation of a PI control system to govern the robot's mobility and adaptability. This includes a detailed examination and demonstration of the PI control mechanism, encompassing its proportional and integral components. The actual results also indicate that the smart car controlled by the PI controller has better performance in both stability and speed.
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Graskin, S. S., I. L. Ermolov, and S. P. Khripunov. "Conceptual Propositions for Creation of Perspective Robotic Systems based on Platform-Modular Approach." Mekhatronika, Avtomatizatsiya, Upravlenie 24, no. 12 (December 6, 2023): 619–26. http://dx.doi.org/10.17587/mau.24.619-626.
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Intensive introduction of robotic systems is a modern priority for further automation of human activities. Recent theoretical and practical developments in robotics have made it possible to introduce robots in areas of practical activities previously dominated by humans. Modern trend in robotics is in creating state of the art robotic systems with increased autonomy and expanded functionality. This will allow to relieve human, leaving him supervision functions. An emerging task in robotics is also to create an environment, assisting to create and introduce new perspective robotic systems, also bearing modernization capability. This can be done through improving of modern approaches of creating robotic systems. We foresee necessity to change some of robots’ life-cycle stages, which would allow to rapidly introduce new effective robots into production. The article in its beginning studies some most emerging directions in robotics and new ideas for more effective robotic systems design. During this one should find a balance between introducing drastically new technologies in new robot and perfectioning already existing technologies. Authors propose to use so-called modular-platform based approach for creating new robots. Within it they imply typical structure of a robot, suggesting to use basic platform as a basement for building new robots with varying usefull load. In such case same platform can be used for building inspection robots, unmanned transport systems, unmanned retransmitter etc. The paper presents some already built examples of the approach. Final part of the paper discusses advantages given by application of this approach.
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Boyraz, Pinar, Svenja Tappe, Tobias Ortmaier, and Annika Raatz. "Design of a low-cost tactile robotic sleeve for autonomous endoscopes and catheters." Measurement and Control 53, no. 3-4 (January 24, 2020): 613–26. http://dx.doi.org/10.1177/0020294019895303.
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Recent developments in medical robotics have been significant, supporting the minimally invasive operation requirements, such as smaller devices and more feedback available to surgeons. Nevertheless, the tactile feedback from a catheter or endoscopic type robotic device has been restricted mostly on the tip of the device and was not aimed to support the autonomous movement of the medical device during operation. In this work, we design a robotic sheath/sleeve with a novel and more comprehensive approach, which can function for whole body or segment-based feedback control as well as diagnostic purposes. The robotic sleeve has several types of piezo-resistive pressure and extension sensors, which are embedded at several latitudes and depths of the silicone substrate. The sleeve takes the human skin as a biological model for its structure. It has a better tactile sensation of the inner tissues in the torturous narrow channels such as cardiovascular or endoluminal tracts in human body and thus can be used to diagnose abnormalities. In addition to this capability, using the stretch sensors distributed alongside its body, the robotic sheath/sleeve can perceive the ego-motion of the robotic backbone of the catheter and can act as a position feedback device. Because of the silicone substrate, the sleeve contributes toward safety of the medical device passively by providing a compliant interface. As an active safety measure, the robotic sheath can sense blood clots or sudden turns inside a channel and by modifying the local trajectory and can prevent embolisms or tissue rupture. In the future, advanced manufacturing techniques will increase the capabilities of the tactile robotic sleeve.
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Saab, Wael, William S. Rone, and Pinhas Ben-Tzvi. "Robotic tails: a state-of-the-art review." Robotica 36, no. 9 (May 25, 2018): 1263–77. http://dx.doi.org/10.1017/s0263574718000425.
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SUMMARYThis paper reviews the state-of-the-art in robotic tails intended for inertial adjustment applications on-board mobile robots. Inspired by biological tails observed in nature, robotic tails provide a separate means to enhance stabilization, and maneuverability from the mobile robot's main form of locomotion, such as legs or wheels. Research over the past decade has primarily focused on implementing single-body rigid pendulum-like tail mechanisms to demonstrate inertial adjustment capabilities on-board walking, jumping and wheeled mobile robots. Recently, there have been increased efforts aimed at leveraging the benefits of both articulated and continuum tail mechanism designs to enhance inertial adjustment capabilities and further emulate the structure and functionalities of tail usage found in nature. This paper discusses relevant research in design, modeling, analysis and implementation of robotic tails onto mobile robots, and highlight how this work is being used to build robotic systems with enhanced performance capabilities. The goal of this article is to outline progress and identify key challenges that lay ahead.
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G.Gomathi Jawahar. "Bipedal Robot Walking and Locomotion, The Intersection of Robotics and Biomechanics by Oscillatory Solutions." Journal of Information Systems Engineering and Management 10, no. 15s (March 4, 2025): 42–45. https://doi.org/10.52783/jisem.v10i15s.2428.
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The study of bipedal robot locomotion lies at the fascinating crossroads of robotics and biomechanics. This field aims to emulate human walking patterns in robots by applying the principles of human gait to robotic systems. The specific method in this area involves oscillatory solutions, which utilize rhythmic patterns to create stable and efficient walking mechanisms. Here some oscillatory solutions for first-order neutral delay difference equations have been developed, contributing to the stability and effectiveness of bipedal robotic movement. When these oscillatory solutions are integrated into bipedal robots within the framework of 3D printing, a novel and innovative fusion of robotics and biomechanics emerges. This integration not only broadens the functional capabilities of bipedal robots but also improves the accuracy and efficiency of 3D printing technology.
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Sanyal, Shubhashis, Anuj Kumar Shukla, Hrishi Sharad Pinjan, Piyush Tailor, Pyla Pavan Kumar, Suman Saurav, and Surjeet Kumar Bhargav. "Pneumatically Operated Tendril-based Soft Hyper-Redundant Robotic Gripper." Journal of Physics: Conference Series 2784, no. 1 (June 1, 2024): 012026. http://dx.doi.org/10.1088/1742-6596/2784/1/012026.
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Abstract The present work aims to design a soft, hyper redundant robotic gripper inspired by natural tendrils. The development of automation also requires extensive study in the field of biomimetic robotics. Most robotic systems are generally built using traditional rigid materials, such as hard plastics and metals. Creating accurate robotic systems necessitates the assembly of firm components connected at specific joints. Nonetheless, crafting a robotic system modeled after natural systems, comprising continuous deformable materials, is anticipated to match or exceed the capabilities of rigid robotic systems. Soft and highly redundant robotic grippers offer nearly limitless degrees of freedom (DOF) and elevated levels of kinematic redundancy. In the present work, a soft robotic gripper is proposed, inspired by plant tendrils that deform helically to hold the object on actuation. The work describes the initial design, material selection, method, important design parameters, an actuation mechanism and the simulation and analysis of the soft gripper. Such studies will be useful to industries and researchers in automation and biomimetic robotic systems.
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Ojha, Varsha. "Robotics In Gynecology- A Review." Obstetrics Gynecology and Reproductive Sciences 8, no. 5 (July 26, 2024): 01–07. http://dx.doi.org/10.31579/2578-8965/224.
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This review article focuses on the development of robotics-based operations in the medical field especially in gynecology. The goal of the surgical robot is to improve surgical skills and compensate for human limitations. The robot's performance in performing duties correctly and consistently has been the key to its success. Tubal anastomosis was the first gynecologic surgery performed with Robotic assistance in 2000 followed by first Robotic Hysterectomy in 2002. In 2003 Da Vinci surgical system was developed which was FDA approved for gynecological surgery in 2005. It has gained popularity fast and is already playing a big part in many of the places where it is available. It consists of a high-resolution three-dimensional (3D) vision system adjacent to the patient on a cart with robotic branches. It provides unique technical advancement, with tremor filtration, improved ergonomics and lower muscular load as compared to both laparoscopic and open surgeries. Autonomous camera and energy instrument control, wrist articulation with 7 degree freedom, telestration and dual- console capabilities, overcoming the limitations of conventional laparoscopy, such as counterintuitive hand movements, 2 dimensional visualization, limited degree of motion and tremor amplification. Compared to laparoscopy, robotic assistance has a lower conversion rate to open procedures. Endo wrist movement of an automated machine during myomectomy surgery can perform proper and better suturing than traditional laparoscopy. The automated program is a noticeable improvement over laparoscopic surgery and, if price issues are resolved, can gain popularity among gynecological surgeons around the globe. Not unique to robotic system, the integration of indigo cyanine green fluorescence with the Da Vinci robotic system allows identification of lesions, and assessment of perfusion of bowel and ureter during deep infiltrating endometriosis resection.
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Chennareddy, S. Sankhar Reddy, Anita Agrawal, and Anupama Karuppiah. "Modular Self-Reconfigurable Robotic Systems: A Survey on Hardware Architectures." Journal of Robotics 2017 (2017): 1–19. http://dx.doi.org/10.1155/2017/5013532.
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Modular self-reconfigurable robots present wide and unique solutions for growing demands in the domains of space exploration, automation, consumer products, and so forth. The higher utilization factor and self-healing capabilities are most demanded traits in robotics for real world applications and modular robotics offer better solutions in these perspectives in relation to traditional robotics. The researchers in robotics domain identified various applications and prototyped numerous robotic models while addressing constraints such as homogeneity, reconfigurability, form factor, and power consumption. The diversified nature of various modular robotic solutions proposed for real world applications and utilization of different sensor and actuator interfacing techniques along with physical model optimizations presents implicit challenges to researchers while identifying and visualizing the merits/demerits of various approaches to a solution. This paper attempts to simplify the comparison of various hardware prototypes by providing a brief study on hardware architectures of modular robots capable of self-healing and reconfiguration along with design techniques adopted in modeling robots, interfacing technologies, and so forth over the past 25 years.
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Geetha, Dr K. S., Deepika M, Mrudhul M J, and S. Vedram. "Localization of a Robot on FPGA with 5-Stage Pipeline RISC-V CPU." INTERANTIONAL JOURNAL OF SCIENTIFIC RESEARCH IN ENGINEERING AND MANAGEMENT 09, no. 03 (March 14, 2025): 1–9. https://doi.org/10.55041/ijsrem42440.
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Custom silicon offers an untapped opportunity for addressing complex challenges in robotics by providing optimized performance and energy efficiency. RISC-V—a novel, open- source Instruction Set Architecture (ISA)—has been gaining rapid traction due to its flexibility and customizability. In this work, we explore the capabilities of RISC-V in the robotics do- main by implementing a complete localization and motion control solution on an FPGA. Leveraging the reconfigurability of FPGAs alongside the extensibility of a custom five-stage pipelined RISC- V processor, our approach demonstrates significant potential for real-time, efficient, and scalable robotic applications. Extensive testing reveals that hardware-level acceleration, particularly in sensor fusion and motor control, provides substantial improve- ments in latency and computational efficiency over traditional software-based systems. The results underscore the promise of RISC-V-based hardware acceleration for advanced robotic localization and pave the way for future innovations in embedded robotics. Index Terms—FPGA, RISC-V, Localization, Robotics, Custom Silicon, Instruction Set Architecture, Real-time Processing, Hard- ware Acceleration
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Paköz, Begüm. "AI and Robotics in Precision Research." Human Computer Interaction 8, no. 1 (December 13, 2024): 101. https://doi.org/10.62802/0j3aqk28.
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The integration of artificial intelligence (AI) and robotics in precision applications is revolutionizing industries ranging from healthcare and agriculture to manufacturing and environmental monitoring. By leveraging advanced algorithms, machine learning, and real-time sensor data, AI-powered robotic systems achieve unparalleled accuracy, efficiency, and adaptability. This research explores the design and implementation of AI and robotics for precision tasks, focusing on autonomous decision-making, high-resolution detection, and real-time response capabilities. Applications include robotic surgery, precision farming, and quality control in manufacturing, where even minute deviations can significantly impact outcomes. The study also examines challenges in achieving precision, such as algorithmic complexity, system scalability, and the need for robust human-robot collaboration. Through case studies and simulations, this research highlights the transformative potential of combining AI and robotics in precision tasks, emphasizing how these technologies are reshaping global industries. Additionally, the ethical implications and societal impacts of deploying such systems are explored, ensuring that advancements align with principles of safety, transparency, and accountability.
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Zörrer, Helmut, Georg Weichhart, Mathias Schmoigl Tonis, Till Bieg, Matthias Propst, Dominik Schuster, Nadine Sturm, et al. "Enabling End-Users in Designing and Executing of Complex, Collaborative Robotic Processes." Applied System Innovation 6, no. 3 (May 12, 2023): 56. http://dx.doi.org/10.3390/asi6030056.
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Over the last years, capabilities of robotic systems have quantitatively and qualitatively improved. But going beyond isolated robotic systems, the integration and interoperability of robotic capabilities in complex work processes remains a major challenge. This lack of tools to integrate robots needs to be addressed on technical, semantic and organizational level. In the ROBxTASK research project, we developed an approach to support cooperation between different types of users in order to enable domain experts, with no robotic know-how, to work with robot-assisted workflows. By engineering robotic skills at a useful and usable level of abstraction for experts in different domains, we aim to increase re-usability of these skills on two different levels, (robotic) device level, and on level of application specific workflows. The researched prototype consists of a web platform, which allows (a) engineers to register (robotic) devices and the implemented skills of the devices, (b) domain experts to use a graphical task design environment to create workflows across multiple robotic devices and lastly (c) robot co-workers to download and execute the workflow code in a local environment with digital twins or real robots. Additionally skills and workflows can be shared across organisations. Initial user studies have shown that the visual programming environment is accessible and the defined skill-set is easy to understand even for domain experts that are inexperienced in the field of robotics.
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Benotsmane, Rabab, László Dudás, and György Kovács. "Survey on artificial intelligence algorithms used in industrial robotics." Multidiszciplináris tudományok 10, no. 4 (2020): 194–205. http://dx.doi.org/10.35925/j.multi.2020.4.23.
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Nowadays, in the age of Industry 4.0 the Artificial Intelligence (AI) and Machine Learning capabilities have important role in the implementation of this new paradigm in the industrial sector. Especially in industrial robotics technology where the main target is improving the productivity, which requires the improvement on the rigid, inflexible capabilities of industrial robots. This article presents an overview of AI algorithms used in industrial robotics. In the first part of the article an overview about the Machine Learning algorithms used for industrial robots will be discussed. In the second part of the study we will introduce the most important AI algorithms used to optimize and improve the trajectory of robotic arms.
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Riffo, V., C. Pieringer, S. Flores, and C. Carrasco. "Object recognition using tactile sensing in a robotic gripper." Insight - Non-Destructive Testing and Condition Monitoring 64, no. 7 (July 1, 2022): 383–92. http://dx.doi.org/10.1784/insi.2022.64.7.383.
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Object recognition using the tactile sense is one of the leading human capacities. This capability is not as developed in robotics as other sensory abilities, for example visual recognition. In addition to a robot's ability to grasp objects without damaging them, it is also helpful to provide these machines with the ability to recognise objects while gently manipulating them, as humans do in the absence of or complementary to other senses. Advances in sensory technology have allowed for the accurate detection of different types of environment; however, the challenge of being able to efficiently represent sensory information persists. In this paper, a sensory system is proposed that allows a robotic gripper armed with pressure sensors to recognise objects through tactile manipulation. A pressure descriptor is designed to characterise the voltage magnitudes across different objects and, finally, machine learning algorithms are used to recognise each object category. The results show that the pressure descriptor characterises the different classes of objects in this experimental set-up. This system can complement other sensory data to perform different tasks in a robotic environment and future research areas are proposed to handle problems with tactile manipulation.
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Alvira, Margarita, Alessio Mondini, Gian Luigi Puleo, Islam Bogachan Tahirbegi, Lucia Beccai, Ali Sadeghi, Barbara Mazzolai, Mònica Mir, and Josep Samitier. "Biomimetic Plant-Root-Inspired Robotic Sensor System." Biosensors 14, no. 12 (November 22, 2024): 565. http://dx.doi.org/10.3390/bios14120565.
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There are many examples in nature in which the ability to detect is combined with decision-making, such as the basic survival instinct of plants and animals to search for food. We can technically translate this innate function via the use of robotics with integrated sensors and artificial intelligence. However, the integration of sensing capabilities into robotics has traditionally been neglected due to the significant associated technical challenges. Inspired by plant-root chemotropism, we present a miniaturized electrochemical array integrated into a robotic tip, embedding a customized micro-potentiometer. The system contains solid-state sensors fitted to the tip of the robotic root to three-dimensionally monitor potassium and pH changes in a moist, soil-like environment, providing an integrated electronic readout. The sensors measure a range of parameters compatible with realistic soil conditions. The sensors’ response can trigger the movement of the robotic root with a control algorithm inspired by the behavior of the plant root that determines the optimal path toward root growth, simulating the decision-making process of a plant. This nature-inspired technology may lead, in the future, to the realization of robotic devices with the potential for monitoring and exploring the soil autonomously.
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Sriya,, Sappidi. "MAZE SLOVING ROBOT WITH LIVE MONITORING." INTERANTIONAL JOURNAL OF SCIENTIFIC RESEARCH IN ENGINEERING AND MANAGEMENT 08, no. 05 (June 2, 2024): 1–5. http://dx.doi.org/10.55041/ijsrem35270.
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This project presents a sophisticated maze-solving robot, equipped with advanced live monitoring capabilities, meticulously designed to autonomously navigate and solve intricate maze environments.The robot's navigation prowess is underpinned by an array of sensors, prominently featuring ultrasonic and infrared technologies, which are adept at detecting and avoiding obstacles while simultaneously mapping the layout of the maze. These sensors feed data into an embedded microcontroller, which processes the information in real-time. To determine the optimal path to the maze's exit, the microcontroller employs sophisticated algorithms such as Depth-First Search (DFS) or Breadth-First Search (BFS), renowned for their efficiency in solving complex mazes.A key feature of the robot is its live monitoring capability, enabled by a wireless communication module. This module is responsible for transmitting critical data, including the robot's status, position, and sensory inputs, to a remote monitoring station. The real-time feedback provided through this system allows users to observe the robot's progress dynamically and make necessary adjustments on the fly, ensuring optimal performance and adaptability in diverse environments. The robot’s compact chassis design ensures superior maneuverability, even in the most confined spaces, while a robust power management system guarantees extended operational periods, making the robot both efficient and reliable.The integration of live monitoring capabilities not only significantly enhances the robot's functionality but also offers invaluable insights into its performance and decision-making processes. This feature is particularly advantageous for educational purposes, providing students and researchers with a tangible demonstration of theoretical concepts in robotics and automation. Additionally, the real-time data acquisition and analysis capabilities make the robot a potent tool for research, especially in fields requiring precise navigation and obstacle avoidance, such as search and rescue operations. Here, the ability to receive immediate feedback and monitor the robot’s actions in real-time is crucial, as it can directly influence the success of missions in dynamic and potentially hazardous environments.The development of this maze-solving robot represents a significant leap forward in the realms of robotics, automation, and remote monitoring technologies. By addressing real-world challenges with enhanced efficiency, this project underscores the potential of advanced robotics to transform a variety of applications. The robot's design, characterized by a harmonious blend of sophisticated sensor arrays, intelligent pathfinding algorithms, and robust real-time monitoring systems, exemplifies the cutting-edge advancements in technology. This convergence of features not only demonstrates the practical applications of theoretical research but also paves the way for future innovations in autonomous systems, highlighting their capability to operate effectively in real-world scenarios and to provide critical insights that can drive further technological progress. Keywords: maze-solving robot, autonomous navigation, live monitoring, ultrasonic sensors, infrared sensors, flood-fill algorithm, real-time processing, wireless communication.
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Collins Nwannebuike Nwokedi, Olakunle Saheed Soyege, Obe Destiny Balogun, Ashiata Yetunde Mustapha, Busayo Olamide Tomoh, Akachukwu Obianuju Mbata, Dorothy Ruth Iguma, and Adelaide Yeboah Forkuo. "Robotics in Healthcare: A Systematic Review of Robotic-Assisted Surgery and Rehabilitation." International Journal of Scientific Research in Science and Technology 11, no. 6 (December 20, 2024): 1061–74. https://doi.org/10.32628/ijsrst25121246.
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This paper comprehensively reviews robotic-assisted surgery and rehabilitation, highlighting the technological advancements, applications, and impacts on healthcare outcomes. Robotic systems offer unprecedented precision and efficiency in surgical procedures and rehabilitation therapies, improving patient outcomes and operational efficiency. The integration of artificial intelligence and machine learning further enhances the capabilities of these technologies, offering personalized treatment options and predictive insights. However, adopting robotic-assisted interventions presents challenges, including high costs, regulatory hurdles, and ethical considerations. Future directions emphasize the need for interdisciplinary research, innovation, and policy-making to address these challenges and expand the potential of robotics in healthcare. This review underscores the transformative impact of robotic technologies on medical practices and the imperative for ongoing education, regulation, and research to fully realize their benefits in enhancing patient care.
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Adekola Adebayo, Riliwan, Nwankwo Constance Obiuto, Igberaese Clinton Festus-Ikhuoria, and Oladiran Kayode Olajiga. "Robotics in Manufacturing: A Review of Advances in Automation and Workforce Implications." International Journal of Advanced Multidisciplinary Research and Studies 4, no. 2 (March 26, 2024): 632–38. http://dx.doi.org/10.62225/2583049x.2024.4.2.2549.
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The integration of robotics in manufacturing processes has undergone significant advancements, reshaping the landscape of industrial production and introducing transformative changes. This review explores the latest developments in robotics within the manufacturing sector, shedding light on the technological breakthroughs and their implications on the workforce. The recent surge in robotics adoption in manufacturing has been driven by the pursuit of increased efficiency, precision, and cost-effectiveness. From traditional robotic arms to cutting-edge collaborative robots (cobots) that work alongside human operators, the manufacturing industry has witnessed a paradigm shift. Advanced robotic systems equipped with artificial intelligence (AI) and machine learning algorithms enable adaptive and autonomous decision-making, further enhancing their capabilities. Automation in manufacturing, fueled by robotics, has yielded numerous benefits such as improved product quality, reduced production cycle times, and increased overall productivity. The review delves into case studies and real-world applications where robotics have proven instrumental in optimizing manufacturing processes across diverse industries. However, as the manufacturing landscape evolves, the implications for the workforce cannot be overlooked. The integration of robotics poses challenges and opportunities for human workers. While automation has the potential to eliminate routine and hazardous tasks, it also necessitates upskilling and reskilling of the workforce to operate, program, and maintain robotic systems. The review examines the socio-economic impacts of increased automation, discussing potential shifts in employment patterns and the need for a strategic approach to workforce development. This review provides a comprehensive analysis of the advances in robotics within manufacturing and their profound implications on the workforce. Striking a balance between automation and human collaboration is crucial for the future of manufacturing, emphasizing the importance of proactive strategies to harness the benefits of robotics while ensuring a resilient and adaptable workforce.
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Oikonomou, Katerina Maria, Ioannis Kansizoglou, and Antonios Gasteratos. "A Hybrid Spiking Neural Network Reinforcement Learning Agent for Energy-Efficient Object Manipulation." Machines 11, no. 2 (January 24, 2023): 162. http://dx.doi.org/10.3390/machines11020162.
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Due to the wide spread of robotics technologies in everyday activities, from industrial automation to domestic assisted living applications, cutting-edge techniques such as deep reinforcement learning are intensively investigated with the aim to advance the technological robotics front. The mandatory limitation of power consumption remains an open challenge in contemporary robotics, especially in real-case applications. Spiking neural networks (SNN) constitute an ideal compromise as a strong computational tool with low-power capacities. This paper introduces a spiking neural network actor for a baseline robotic manipulation task using a dual-finger gripper. To achieve that, we used a hybrid deep deterministic policy gradient (DDPG) algorithm designed with a spiking actor and a deep critic network to train the robotic agent. Thus, the agent learns to obtain the optimal policies for the three main tasks of the robotic manipulation approach: target-object reach, grasp, and transfer. The proposed method has one of the main advantages that an SNN possesses, namely, its neuromorphic hardware implementation capacity that results in energy-efficient implementations. The latter accomplishment is highly demonstrated in the evaluation results of the SNN actor since the deep critic network was exploited only during training. Aiming to further display the capabilities of the introduced approach, we compare our model with the well-established DDPG algorithm.
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Terzi, Tuğra Alp. "Hydrogel-based Soft Robotics for Surgical Machinery." Next Generation Journal for The Young Researchers 8, no. 1 (November 15, 2024): 89. http://dx.doi.org/10.62802/mg747v71.
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Hydrogel-based soft robotics represent a transformative approach in surgical machinery, offering unparalleled adaptability, biocompatibility, and precision for minimally invasive procedures. Hydrogels, with their high water content and tunable mechanical properties, mimic soft biological tissues, making them ideal for applications in delicate surgical environments. This research explores the integration of hydrogel materials into soft robotic systems, focusing on their fabrication, actuation mechanisms, and performance in surgical applications. Key advancements include the development of stimuli-responsive hydrogels that enable precise control of movement and force, enhancing the capability to navigate complex anatomical structures. The study also examines computational models for simulating hydrogel behavior and optimizing robotic designs. While the potential benefits of hydrogel-based soft robotics in improving patient outcomes are significant, challenges remain in ensuring durability, scalability, and reliable control systems. This research aims to address these limitations by integrating advanced materials science with robotic engineering. By doing so, it contributes to the evolution of surgical technologies, paving the way for safer and more effective procedures.
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Sutikno, Tole. "The future of artificial intelligence-driven robotics: applications and implications." IAES International Journal of Robotics and Automation (IJRA) 13, no. 4 (December 1, 2024): 361. http://dx.doi.org/10.11591/ijra.v13i4.pp361-372.
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Artificial intelligence (AI)-driven robotics is a rapidly evolving field that is transforming various industries, including healthcare, manufacturing, transportation, logistics, security, retail, agri-food, and construction. The integration of artificial intelligence algorithms and machine learning techniques has propelled robotics beyond mere automation, enabling machines to modify, alter, adjust, learn, and interact with the world in ways previously deemed science fiction. The relentless pursuit of creating intelligent robotic systems has led to a symbiotic relationship between human inventiveness and AI, with AI-driven autonomous cars, drones, and robots transforming transportation, healthcare, and exploration. It offers flexibility and learning capabilities, transforming the way machines interact with humans. The integration of AI and robotics marks a transformative era in which machines become companions and cognitive extensions of human capabilities. In the future, we expect AI-driven robotics to bring significant changes to employment and societal well-being. However, the development of AI-driven robotics, which is the integration of AI and robotics, faces numerous challenges, including ethical concerns, legal issues, regulations, societal implications, and job market impacts for the proliferation of intelligent machines. Furthermore, it also presents challenges in terms of technical complexities in its development.
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Rossiter, Jonathan. "Soft robotics: the route to true robotic organisms." Artificial Life and Robotics 26, no. 3 (June 29, 2021): 269–74. http://dx.doi.org/10.1007/s10015-021-00688-w.
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AbstractSoft Robotics has come to the fore in the last decade as a new way of conceptualising, designing and fabricating robots. Soft materials empower robots with locomotion, manipulation, and adaptability capabilities beyond those possible with conventional rigid robots. Soft robots can also be made from biological, biocompatible and biodegradable materials. This offers the tantalising possibility of bridging the gap between robots and organisms. Here, we discuss the properties of soft materials and soft systems that make them so attractive for future robots. In doing so, we consider how future robots can behave like, and have abilities akin to, biological organisms. These include huge numbers, finite lifetime, homeostasis and minimal—and even positive—environmental impact. This paves the way for future robots, not as machines, but as robotic organisms.
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Perera, Osura, Ranjith Liyanapathirana, Gaetano Gargiulo, and Upul Gunawardana. "A Review of Soft Robotic Actuators and Their Applications in Bioengineering, with an Emphasis on HASEL Actuators’ Future Potential." Actuators 13, no. 12 (December 18, 2024): 524. https://doi.org/10.3390/act13120524.
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This review will examine the rapidly growing field of soft robotics, with a special emphasis on soft robotic actuators and their applications in bioengineering. Bioengineering has increasingly utilized soft robotics due to their mechanical adaptability and flexibility, with applications including drug delivery, assistive and wearable devices, artificial organs, and prosthetics. Soft robotic applications, as well as the responsive mechanisms employed in soft robotics, include electrical, magnetic, thermal, photo-responsive, and pressure-driven actuators. Special attention is given to hydraulically amplified self-healing electrostatic (HASEL) actuators due to their biomimetic properties and innovative combination of dielectric elastomer actuators (DEAs) and hydraulic actuators, which eliminates the limitations of each actuator while introducing capabilities such as self-healing. HASEL actuators combine the fast response and self-sensing features of DEAs, as well as the force generation and adaptability of hydraulic systems. Their self-healing ability from electrical damage not only makes HASELs a unique technology among others but also makes them promising for long-term bioengineering applications. A key contribution of this study is the comparative analysis of the soft actuators, presented in detailed tables. The performance of soft actuators is assessed against a common set of critical parameters, including specific power, strain, maximum actuation stress, energy efficiency, cycle life, and self-healing capabilities. This study has also identified some important research gaps and potential areas where soft robotics may still be developed in the future. Future research should focus on improvements in power supply design, long-term material durability, and enhanced energy efficiency. This review will serve as an intermediate reference for researchers and system designers, guiding the next generation of advancements in soft robotics within bioengineering.
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Saideep Nakka and Dr. Sandeep Kumar. "Experimental Studies in High-Complexity Robotic Systems: Design and Implementation." Universal Research Reports 12, no. 1 (March 5, 2025): 107–16. https://doi.org/10.36676/urr.v12.i1.1465.
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Experimental Studies in High-Complexity Robotic Systems: Design and Implementation addresses the challenges and breakthroughs in developing advanced robotic platforms. This research investigates the integration of innovative design methodologies, robust control algorithms, and cutting-edge hardware architectures to build systems capable of operating reliably in unpredictable environments. A comprehensive experimental framework is employed, combining simulation trials with real-world testing to evaluate system performance across various metrics including precision, adaptability, energy efficiency, and scalability. The study examines the effects of modular design approaches and adaptive feedback mechanisms on enhancing the operational capabilities of high-complexity robotics.
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Lalitha K, H R Mandhara, Hema P, and Tejaswini K S. "Design and Development of Robotic Vehicle to Assist Patients in Isolation Ward." International Research Journal on Advanced Engineering Hub (IRJAEH) 2, no. 05 (May 14, 2024): 1108–14. http://dx.doi.org/10.47392/irjaeh.2024.0153.
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In the wake of the Contagious diseases, the need for innovative solutions to support patient care in isolation wards has become increasingly crucial. This paper presents the design and development of a robotic vehicle aimed at assisting patients in isolation ward. One can control the car from a safe distance to avoid contact of the patient. Additionally, the robotic vehicle incorporates a sanitizing booth to ensure hygienic conditions within the isolation environment. The control interface for the robotic vehicle is facilitated through a Blynk mobile application, providing real-time observing and managing capabilities to healthcare professionals. This endeavor not only tackles the challenges of patient care in isolation wards but also adds to the advancement of robotics in healthcare settings.
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Ryu, Ji Hyoung, Muhammad Irfan, and Aamir Reyaz. "A Review on Sensor Network Issues and Robotics." Journal of Sensors 2015 (2015): 1–14. http://dx.doi.org/10.1155/2015/140217.
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The interaction of distributed robotics and wireless sensor networks has led to the creation of mobile sensor networks. There has been an increasing interest in building mobile sensor networks and they are the favored class of WSNs in which mobility plays a key role in the execution of an application. More and more researches focus on development of mobile wireless sensor networks (MWSNs) due to its favorable advantages and applications. In WSNs robotics can play a crucial role, and integrating static nodes with mobile robots enhances the capabilities of both types of devices and enables new applications. In this paper we present an overview on mobile sensor networks in robotics and vice versa and robotic sensor network applications.
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ANG, MARCELO H. "TOWARDS PERVASIVE ROBOTICS: COMPLIANT MOTION IN HUMAN ENVIRONMENTS." International Journal of Software Engineering and Knowledge Engineering 15, no. 02 (April 2005): 135–45. http://dx.doi.org/10.1142/s0218194005002336.
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Robotics research and development span over five decades but is still not pervasive in our daily lives. This paper attempts to explain why and reviews compliant motion which is a crucial capability required to make robots pervasive. Robotic tasks are analyzed and algorithms for control of compliant motion of manipulators are presented.
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Twamina T., Nakalya. "Swarm Robotics in Healthcare: Coordinated Tasks in Hospitals." RESEARCH INVENTION JOURNAL OF BIOLOGICAL AND APPLIED SCIENCES 5, no. 2 (February 23, 2025): 33–37. https://doi.org/10.59298/rijbas/2025/523337.
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Swarm robotics, inspired by the behavior of social insects, has emerged as a promising innovation in healthcare settings. In hospital environments, swarm robotic systems are utilized to streamline logistics, assist with repetitive tasks, and enhance operational efficiency while improving patient care. These robots work in collaboration with healthcare professionals, with semi-autonomous capabilities that allow them to perform tasks such as patient transport, medication delivery, and hospital disinfection. This paper examines the applications, challenges, and solutions associated with swarm robotics in hospitals, drawing from case studies and future research directions. The integration of swarm robotics promises to reduce hospital costs, improve workflow efficiency, and enhance both patient and staff experience, though careful consideration of technical, ethical, and regulatory issues is required for successful implementation. Keywords: Swarm Robotics, Healthcare Robotics, Hospital Automation, Collaborative Robots, Patient Care, Disinfection Robots, Medical Logistics.
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Zhou, Fan. "Adaptive Imaging Technology of Robot Vision Sensor." Applied and Computational Engineering 127, no. 1 (January 10, 2025): 129–33. https://doi.org/10.54254/2755-2721/2025.20261.
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This paper addresses the critical challenge of enhancing robotic real-time sensing and navigation capabilities in complex environments through advanced 3D modeling and semantic mapping technologies. The research integrates RGBD camera-based 3D modeling with synchronous positioning techniques to achieve precise environmental surface classification and monitoring. A novel approach combining multi-view recognition with improved segmentation quality is presented, along with a delay fusion method to address positioning errors in real-time visual-aided inertial navigation. The methodology demonstrates particular effectiveness in constructing semantic maps within dynamic complex environments, though success relies heavily on high-quality image processing and accurate synchronous positioning. Two experimental validations were conducted to investigate object perception and recognition mechanisms for robot-environment interaction. The study further explores adaptive imaging technology in robotic vision sensors and examines its future applications. This research contributes significantly to the field of autonomous robotics by enhancing environmental understanding and interaction capabilities, while acknowledging the technical constraints in real-world implementations. The findings suggest promising directions for improving robotic perception systems in complex operational scenarios.
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Centelles, Diego, Antonio Soriano-Asensi, José Vicente Martí, Raúl Marín, and Pedro J. Sanz. "Underwater Wireless Communications for Cooperative Robotics with UWSim-NET." Applied Sciences 9, no. 17 (August 28, 2019): 3526. http://dx.doi.org/10.3390/app9173526.
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The increasing number of autonomous underwater vehicles (AUVs) cooperating in underwater operations has motivated the use of wireless communications. Their modeling can minimize the impact of their limited performance in real-time robotic interventions. However, robotic frameworks hardly ever consider the communications, and network simulators are not suitable for HIL experiments. In this work, the UWSim-NET is presented, an open source tool to simulate the impact of communications in underwater robotics. It gathers the benefits of NS3 in modeling communication networks with those of the underwater robot simulator (UWSim) and the robot operating system (ROS) in modeling robotic systems. This article also shows the results of three experiments that demonstrate the capabilities of UWSim-NET in modeling radio frequency (RF) and acoustic links in underwater scenarios. It also permits evaluating several MAC protocols such as additive links online Hawaii area (ALOHA), slotted floor acquisition multiple access (S-FAMA) and user defined protocols. A third experiment demonstrated the excellent capabilities of UWSim-NET in conducting hardware in the loop (HIL) experiments.
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Navaratnam, Anojan, Haidar Abdul-Muhsin, and Mitchell Humphreys. "Updates in Urologic Robot Assisted Surgery." F1000Research 7 (December 18, 2018): 1948. http://dx.doi.org/10.12688/f1000research.15480.1.
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Modern robotics is an advanced minimally invasive technology with the advantages of wristed capability, three-dimensional optics, and tremor filtration compared with conventional laparoscopy. Urologists have been early adopters of robotic surgical technology: robotics have been used in urologic oncology for more than 20 years and there has been an increasing trend for utilization in benign urologic pathology in the last couple of years. The continuing development and interest in robotics are aimed at surgical efficiency as well as patient outcomes. However, despite its advantages, improvements in haptics, system size, and cost are still desired. This article explores the current use of robotics in urology as well as future improvements on the horizon.
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Bingham, Brian S., Jeffrey M. Walls, and Ryan M. Eustice. "Development of a Flexible Command and Control Software Architecture for Marine Robotic Applications." Marine Technology Society Journal 45, no. 3 (May 1, 2011): 25–36. http://dx.doi.org/10.4031/mtsj.45.3.4.
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AbstractThis paper reports the implementation of a supervisory control framework and modular software architecture built around the lightweight communication and marshalling (LCM) publish/subscribe message passing system. In particular, we examine two diverse marine robotics applications using this modular system: (i) the development of an unmanned port security vehicle, a robotic surface platform to support first responders reacting to transportation security incidents in harbor environments, and (ii) the adaptation of a commercial off-the-shelf autonomous underwater vehicle (the Ocean-Server Iver2) for visual feature-based navigation. In both cases, the modular vehicle software infrastructures are based around the open-source LCM software library for low-latency, real-time message passing. To elucidate the real-world application of LCM in marine robotic systems, we present the software architecture of these two successful marine robotic applications and illustrate the capabilities and flexibilities of this approach to real-time marine robotics. We present benchmarking test results comparing the throughput of LCM with the Mission-Oriented Operating Suite, another robot software system popular in marine robotics. Experimental results demonstrate the capacity of the LCM framework to make large amounts of actionable information available to the operator and to allow for distributed supervisory control. We also provide a discussion of the qualitative tradeoffs involved in selecting software infrastructure for supervisory control.
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Johnston, R., M. Oppermann, and V. Yang. "P.152 In-vivo accuracy of pedicle screws utilizing a supervisory controlled 7DOF robot with OCT guidance." Canadian Journal of Neurological Sciences / Journal Canadien des Sciences Neurologiques 51, s1 (May 24, 2024): S57. http://dx.doi.org/10.1017/cjn.2024.251.
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Background: Pedicle screw fixation is an important technique in spine surgery. Violation of the pedicle can lead to neurovascular injury. Due to excellent pose repeatability, robotic technology may improve accuracy. Existing surgical spine robots use surgical assist architecture. This work explores the performance of a supervisory-control architecture robot (8i Robotics) for autonomous pedicle instrumentation. Methods: 3 porcine subjects underwent pedicle instrumentation utilizing the 7dof robot and were observed for 24 hours. Post-operative CT assessed screw location. Screws were graded clinically with the Gertzbein-Robbins Scale (GRS). Precision was assessed by a customized image processing pipeline. Euclidean error was calculated at screw head and screw tip. All points were normalized to a nominal screw, and confidence ellipses generated. Results: All animals were neurologically intact at 24 hours. All screws where GRS A. Mean tip and head Euclidean error where 2.47+/−1.25mm and 2.25+/-1.25mm respectively. Major and minor axes of the confidence ellipse at 99% was 2.19mm, and 1.28mm, and 2.07mm, and 0.42mm for tip and head respectively. Conclusions: 100% of screws obtained satisfactory clinical grading, with intact function in all animals post-operatively. This shows the capability of a supervisory-controlled 7DOF robot with OCT registration. Further investigation is warranted to further explore robotic capabilities, safety, and cost effectiveness.
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Roizenblatt, Marina, Alex Treiger Grupenmacher, Rubens Belfort Junior, Mauricio Maia, and Peter L. Gehlbach. "Robot-assisted tremor control for performance enhancement of retinal microsurgeons." British Journal of Ophthalmology 103, no. 8 (December 20, 2018): 1195–200. http://dx.doi.org/10.1136/bjophthalmol-2018-313318.
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Pars plana vitrectomy is a challenging, minimally invasive microsurgical procedure due to its intrinsic manoeuvres and physiological limits that constrain human capability. An important human limitation is physiological hand tremor, which can significantly increase the risk of iatrogenic retinal damage resulting from unintentional manoeuvres that affect anatomical and functional surgical outcomes. The limitations imposed by normal physiological tremor are more evident and challenging during ‘micron-scale’ manoeuvres such as epiretinal membrane and internal limiting membrane peeling, and delicate procedures requiring coordinated bimanual surgery such as tractional retinal detachment repair. Therefore, over the previous three decades, attention has turned to robot-assisted surgical devices to overcome these challenges. Several systems have been developed to improve microsurgical accuracy by cancelling hand tremor and facilitating faster, safer and more effective microsurgeries. By markedly reducing tremor, microsurgical precision is improved to a level beyond present human capabilities. In conclusion, robotics offers potential advantages over free-hand microsurgery as it is currently performed during ophthalmic surgery and opens the door to a new class of revolutionary microsurgical modalities. The skills transfer that is beyond human capabilities to robotic technology is a logical next step in microsurgical evolution.
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Mahon, Stephen, Jamie Roberts, Mohammed Sayed, Derek Chun, Simona Aracri, Ross McKenzie, Markus Nemitz, and Adam Stokes. "Capability by Stacking: The Current Design Heuristic for Soft Robots." Biomimetics 3, no. 3 (July 13, 2018): 16. http://dx.doi.org/10.3390/biomimetics3030016.
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Soft robots are a new class of systems being developed and studied by robotics scientists. These systems have a diverse range of applications including sub-sea manipulation and rehabilitative robotics. In their current state of development, the prevalent paradigm for the control architecture in these systems is a one-to-one mapping of controller outputs to actuators. In this work, we define functional blocks as the physical implementation of some discrete behaviors, which are presented as a decomposition of the behavior of the soft robot. We also use the term ‘stacking’ as the ability to combine functional blocks to create a system that is more complex and has greater capability than the sum of its parts. By stacking functional blocks a system designer can increase the range of behaviors and the overall capability of the system. As the community continues to increase the capabilities of soft systems—by stacking more and more functional blocks—we will encounter a practical limit with the number of parallelized control lines. In this paper, we review 20 soft systems reported in the literature and we observe this trend of one-to-one mapping of control outputs to functional blocks. We also observe that stacking functional blocks results in systems that are increasingly capable of a diverse range of complex motions and behaviors, leading ultimately to systems that are capable of performing useful tasks. The design heuristic that we observe is one of increased capability by stacking simple units—a classic engineering approach. As we move towards more capability in soft robotic systems, and begin to reach practical limits in control, we predict that we will require increased amounts of autonomy in the system. The field of soft robotics is in its infancy, and as we move towards realizing the potential of this technology, we will need to develop design tools and control paradigms that allow us to handle the complexity in these stacked, non-linear systems.
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Ganguly, Sayan, and Shlomo Margel. "Fabrication and Applications of Magnetic Polymer Composites for Soft Robotics." Micromachines 14, no. 12 (November 29, 2023): 2173. http://dx.doi.org/10.3390/mi14122173.
Full textAbstract:
The emergence of magnetic polymer composites has had a transformative impact on the field of soft robotics. This overview will examine the various methods by which innovative materials can be synthesized and utilized. The advancement of soft robotic systems has been significantly enhanced by the utilization of magnetic polymer composites, which amalgamate the pliability of polymers with the reactivity of magnetic materials. This study extensively examines the production methodologies involved in dispersing magnetic particles within polymer matrices and controlling their spatial distribution. The objective is to gain insights into the strategies required to attain the desired mechanical and magnetic properties. Additionally, this study delves into the potential applications of these composites in the field of soft robotics, encompassing various devices such as soft actuators, grippers, and wearable gadgets. The study emphasizes the transformative capabilities of magnetic polymer composites, which offer a novel framework for the advancement of biocompatible, versatile soft robotic systems that utilize magnetic actuation.