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Robot-Assisted Flexible Needle Steering for Targeted Delivery of Magnetic Agents

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Publications

Magnetic motion control and planning of untethered soft grippers using ultrasound image feedback

Author(s): Stefano Scheggi, Krishna Kumar T. Chandrasekar, ChangKyu Yoon, Ben Sawaryn, Gert van de Steeg, David H. Gracias, Sarthak Misra
Published in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 6156-6161
DOI: 10.1109/ICRA.2017.7989730

Modeling and validation of a low-cost soft-tethered endoscopic platform

Author(s): Dawson, I.R.; Campisano, F.; Gramuglia, F.; Obstein, K.L.; Hekman, Edsko E.G.; Sikorski, Jakub; Misra, Sarthak; Valdastri, P.
Published in: "Hamlyn symposium ""New challenges and emerging platforms""", Issue 2, 2016

Control of untethered soft grippers for pick-and-place tasks

Author(s): Federico Ongaro, ChangKyu Yoon, Frank van den Brink, Momen Abayazid, Seung Hyun Oh, David H. Gracias, Sarthak Misra
Published in: 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2016, Page(s) 299-304
DOI: 10.1109/BIOROB.2016.7523642

Evaluation of an electromagnetic system with haptic feedback for control of untethered, soft grippers affected by disturbances

Author(s): Federico Ongaro, Claudio Pacchierotti, ChangKyu Yoon, Domenico Prattichizzo, David H. Gracias, Sarthak Misra
Published in: 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2016, Page(s) 900-905
DOI: 10.1109/BIOROB.2016.7523742

A robust controller for micro-sized agents: The prescribed performance approach

Author(s): Alper Denasi, Sarthak Misra
Published in: 2016 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), 2016, Page(s) 1-6
DOI: 10.1109/MARSS.2016.7561711

Closed-loop control of a magnetically-actuated catheter using two-dimensional ultrasound images

Author(s): Klaas Jelmer Boskma, Stefano Scheggi, Sarthak Misra
Published in: 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2016, Page(s) 61-66
DOI: 10.1109/BIOROB.2016.7523599

Model-based tracking of miniaturized grippers using Particle Swarm Optimization

Author(s): Stefano Scheggi, ChangKyu Yoon, David H. Gracias, Sarthak Misra
Published in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Page(s) 454-459
DOI: 10.1109/IROS.2016.7759093

An experimental comparison of path planning techniques applied to micro-sized magnetic agents

Author(s): Stefano Scheggi, Sarthak Misra
Published in: 2016 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), 2016, Page(s) 1-6
DOI: 10.1109/MARSS.2016.7561695

Water Jet Actuation for Ultra-low Cost Endoscopy: Characterization of Miniature Nozzles Fabricated by Rapid Prototyping

Author(s): F. Campisano, F. Gramuglia, I.R. Dawson, K.L. Obstein, S. Misra, E. De Momi, P. Valdastri
Published in: Procedia Engineering, Issue 168, 2016, Page(s) 388-391, ISSN 1877-7058
DOI: 10.1016/j.proeng.2016.11.147

Haptic Feedback for Microrobotics Applications: A Review

Author(s): Claudio Pacchierotti, Stefano Scheggi, Domenico Prattichizzo, Sarthak Misra
Published in: Frontiers in Robotics and AI, Issue 3, 2016, ISSN 2296-9144
DOI: 10.3389/frobt.2016.00053

Stimuli-Responsive Soft Untethered Grippers for Drug Delivery and Robotic Surgery

Author(s): Arijit Ghosh, ChangKyu Yoon, Federico Ongaro, Stefano Scheggi, Florin M. Selaru, Sarthak Misra, David H. Gracias
Published in: Frontiers in Mechanical Engineering, Issue 3, 2017, ISSN 2297-3079
DOI: 10.3389/fmech.2017.00007

Design, characterization and control of thermally-responsive and magnetically-actuated micro-grippers at the air-water interface

Author(s): Federico Ongaro, Stefano Scheggi, Arijit Ghosh, Alper Denasi, David H. Gracias, Sarthak Misra
Published in: PLOS ONE, Issue 12/12, 2017, Page(s) e0187441, ISSN 1932-6203
DOI: 10.1371/journal.pone.0187441

Flexible Needle Steering in Moving Biological Tissue With Motion Compensation Using Ultrasound and Force Feedback

Author(s): Jason Chevrie, Navid Shahriari, Marie Babel, Alexandre Krupa, Sarthak Misra
Published in: IEEE Robotics and Automation Letters, Issue 3/3, 2018, Page(s) 2338-2345, ISSN 2377-3766
DOI: 10.1109/LRA.2018.2809484

Steering and Control of Miniaturized Untethered Soft Magnetic Grippers With Haptic Assistance

Author(s): Claudio Pacchierotti, Federico Ongaro, Frank van den Brink, ChangKyu Yoon, Domenico Prattichizzo, David H. Gracias, Sarthak Misra
Published in: IEEE Transactions on Automation Science and Engineering, 2017, Page(s) 1-17, ISSN 1545-5955
DOI: 10.1109/TASE.2016.2635106

Autonomous planning and control of soft untethered grippers in unstructured environments

Author(s): Federico Ongaro, Stefano Scheggi, ChangKyu Yoon, Frank van den Brink, Seung Hyun Oh, David H. Gracias, Sarthak Misra
Published in: Journal of Micro-Bio Robotics, 2016, ISSN 2194-6418
DOI: 10.1007/s12213-016-0091-1