Soft Robotics and Applications

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This paper reports a novel remotely actuated manipulator for access to prostate tissue under magnetic resonance imaging guidance (APT-MRI) device, designed for use in a standard high-field MRI scanner. The device provides three-dimensional MRI guided needle placement with millimeter accuracy under physician control. P…

We develop a computer-based training system to simulate laparoscopic procedures in virtual environments for medical training. The major hardware components of our system include a computer monitor to display visual interactions between 3D virtual models of organs and instruments together with a pair of force feedback…

• ÇAĞATAY BAŞDOĞAN

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• ÇAĞATAY BAŞDOĞAN

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• EVREN SAMUR

In this paper, the design, analysis, and fabrication of a gecko-inspired climbing robot are discussed. The robot has kinematics similar to a gecko's climbing gait. It uses peeling and steering mechanisms and an active tail for robust and agile climbing as a novelty. The advantage of this legged robot is that it can ex…

Ingestible wireless capsule endoscopy is an emerging minimally invasive diagnostic technology for inspection of the GI tract and diagnosis of a wide range of diseases and pathologies. Medical device companies and many research groups have recently made substantial progresses in converting passive capsule endoscopes to…

• MEHMET TURAN

Abstract Soft robotics is an emerging field of robotics that focuses on the design of soft machines and devices with effective human-machine interaction, high conformity, and environmental adaptability. The conventional robots made of hard materials have already achieved precision and accuracy, but they lack in reacha…

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• YENAL AKGÜN

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This article describes a new principle for designing soft or 'semisoft' pneumatic actuators: SLiT (for SLit-in-Tube) actuators. Inflating an elastomeric balloon, when enclosed by an external shell (a material with higher Young's modulus) containing slits of different directions and lengths, produces a variety of motio…

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• KEREM PEKKAN