2 DoF surgical training eye phantom for cataract surgery in a low-cost setting

The human eye is a very delicate yet highly intricate organ, and treatments such as cataract surgery call for meticulous precision. Ophthalmologists hone their skills over years of practice, which they initially acquired during their studies in medical schools. Basic skills such as globe fixation and capsulorhexis training have a very steep...

Design of a Soft Underwater Gripper With SMA Actuation

Underwater robot tasks pose many challenges for conventional robotic systems. The current rigid robots are limited in their adaptability to the environment and the objects to be manipulated. Soft grasping of objects offers advantages due to the flexibility when dealing with, for example, living organisms, random shaped objects, and coral...

Design of a Nonlinear Stiffness Unit Cell Aided Magnetic Gravity Compensator

A novel nonlinear stiffness unit cell aided magnetic gravity compensator is proposed for the purpose of isolating low-frequency vibrations. A negative stiffness magnet setup is combined with a compliant unit cell with tailored nonlinear force-displacement characteristics. This combination offers a large range of motion featuring low stiffness, a...

Towards Topology Optimization for constructing Compliant Optical Mount Mechanisms by means of Additive Manufacturing

Optical systems in high precision equipment become increasingly more complex due to the raising number of optical mounts used for mounting and positioning of optical components. Additional, the installation of electronics and inert gas purging systems to protect the optics against the abrasive optical beam extends the amount of components in the...