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Discrete-time integral sliding mode control of a smart joint for minimally invasive surgeries
(IEEE, 2016)
In this work, a shape memory alloy(SMA) actuator based joint (smart joint) is controlled using a discrete-time integral sliding mode (DISM) control to guide the motion of an active catheter. Controller is designed on the ...
Variable ankle stiffness improves balance control: experiments on a bipedal exoskeleton
(IEEE, 2016-02)
This paper proposes a real-time balance control technique that can be implemented to bipedal robots (exoskeletons, humanoids) whose ankle joints are powered via variable physical stiffness actuators. To achieve active ...
Visual tracking of biopsy needles in 2D ultrasound images
(2016)
Ultrasound (US) is one the most commonly used medical imaging techniques in percutaneous needle procedures. However, US images are inherently noisy and contain excessive number of artifacts. Hence, it is not easy to track ...
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