Browsing Faculty of Engineering & Applied Science by Author "Rossa, Carlos"
Now showing items 1-6 of 6
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Analysis, development, and control of multi-degree-of-freedom passive haptic devices
Lacki, Maciej (2020-08-01)Stability and transparency are key design requirements in haptic devices. Replacing conventional electric motors with passive actuators such as brakes or dampers can improve both stability and transparency as passive ... -
Design and control of an active ankle-foot orthosis
DeBoer, Benjamin (2022-04-01)Active ankle-foot orthoses (AAFOs) assist a user unable to dorsiflex the ankle joint. The optimal AAFO is lightweight and aids the user in achieving a nominal gait. This thesis presents the design and control of a novel ... -
Electrical impedance tomography for internal radiation therapy
Tan, Hao Chen (2021-08-01)Internal radiation therapy is a radiation-based treatment for various forms of localized cancer. In this treatment, several needles or catheters are inserted percutaneously into the tissue, and radiation is delivered through ... -
Multimodal series elastic actuator for human-machine interaction with applications in robot-aided rehabilitation
DeBoon, Brayden (2019-11-01)Series elastic actuators (SEAs) are becoming an elemental building block in collaborative robotic systems. They introduce an elastic element between the mechanical drive and the end-effector, making otherwise rigid structures ... -
Robotic and haptic assistance for kidney access during percutaneous nephrolithotomy
Wilz, Olivia (2021-08-01)Percutaneous nephrolithotomy (PCNL) is a minimally invasive procedure for removing kidney stones. Gaining kidney access is the most challenging task in this procedure and the cause of many complications. This thesis presents ... -
Tissue classification from electric impedance spectroscopy for haptic feedback in minimally invasive surgery
Kent, Brayden (2020-10-01)Haptic feedback is missing in teleoperated surgical robots creating a sensory disconnect from the surgeon and their patient. This thesis proposes using the electric impedance of tissues, instead of the traditionally used ...