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Spring 2016

Bowthorpe, Meaghan L

Cardiovascular disease causes the greatest number of deaths worldwide each year according to the World Health Organization [1]. Hence, many patients require cardiovascular surgery each year. Short of stopping the motion of the heart at the beginning of a cardiac procedure, the surgeon would...

Fall 2020

Torabiparizi, Ali

Haptic interaction is the human's most basic way to understand an environment and effect change in it. Haptic feedback provides humans who operate machines with a sense of touching objects they are not actually touching but are manipulating by the machines. Haptic feedback allows the human...

Fall 2024

Li, Teng

Robot-assisted arthroscopic surgery has been receiving growing attention in the field of orthopedic surgery. Most of the existing robot-assisted surgical systems in orthopedics take more focus on open surgery than minimally invasive surgery (MIS). In traditional arthroscopic surgery, a specific...

Fall 2019

Sakamaki, Isao

BACKGROUND: The process through which children learn about the world and develop perceptual, cognitive and social skills relies heavily on spatial and object exploration; specifically, manipulation of toys and tools in the environment. However, some children with motor impairment have...

Fall 2011

Mohammadi, Alireza

Employing disturbance observers is an effective way of enhancing the stability and performance of the control systems subject to disturbances. Disturbance observers have been extensively used for control of mechatronic systems since their introduction in the 1980s. This thesis studies the...

Spring 2015

TAO, Ran

This thesis focuses on the analysis and implementation of haptic teleoperation systems for home-based remote rehabilitation therapies. The main objective is to link the hand of a hospital-based therapist to the hand of a home-based disabled patient haptically, in order to simulate conventional...

Spring 2019

Ocampo, Renz J R

Disabling events such as stroke affect millions of people worldwide, causing a need for efficient and functional rehabilitation therapies in order for patients to regain motor function for reintegration back into their normal lives. Rehabilitation regimes often involve performing exercises that...

Spring 2018

Najafi, Mohammad

Physical interaction with the environment and object manipulation play an important role in the development of children's cognitive and perceptual skills. For children who have severe physical impairments, one of the biggest concerns is the loss of opportunities for play. Robots can be used to...

Fall 2018

Fallahi, Bita

Steerable needles have been widely used in minimally-invasive surgical procedures such as brachytherapy, biopsy, and neurosurgery in which long flexible needles are inserted into the human body for treatment, diagnosis or sample removal. Prostate brachytherapy, known as a cost-effective and...

Fall 2023

Akbari, Mojtaba

This thesis presents significant research on robotic motion planning within diagnostic and therapy applications, with a primary focus on the integration of control and AI techniques. The research encompasses three main contributions: a robotic ultrasound imaging method, a robot-assisted...