Abstract: An insertion system includes an insertion device including a body defining a longitudinal axis, the body including a wall having an outer surface and an inner surface defining a cylindrical opening through the body, the body having a first body portion and a second body portion formed by separating the body along the longitudinal axis, an effector configured to interface with the insertion device, the effector having an effector body, a first mechanism coupled to the effector body and coupled to the first body portion of the insertion device, and a second mechanism coupled to the effector body and coupled to the second body portion of the insertion device, and an insertion mechanism coupled with the effector body. The insertion mechanism enables a force application at a position offset from the insertion device.

Abstract: An insertion system includes an insertion device including a body defining a longitudinal axis, the body including a wall having an outer surface and an inner surface defining a cylindrical opening through the body, the body having a first body portion and a second body portion formed by separating the body along the longitudinal axis, an effector configured to interface with the insertion device, the effector having an effector body, a first mechanism coupled to the effector body and coupled to the first body portion of the insertion device, and a second mechanism coupled to the effector body and coupled to the second body portion of the insertion device, and an insertion mechanism coupled with the effector body. The insertion mechanism enables a force application at a position offset from the insertion device.

Abstract: An electromechanical system operates through physical interaction with an operator, and includes a plurality of joints providing multiple degrees of freedom (DOF), including actuated joints and unactuated joints. The unactuated joints are distal with respect to the actuated joints and are in redundant DOF to the actuated joints. The system includes a plurality of actuators each configured to actuate one or more of the actuated joints, and a plurality of sensors each positioned with respect to a respective one of the actuated and unactuated joints. Each sensor is configured to measure corresponding joint data indicative of a position or angle of the respective actuated or unactuated joints. A controller in communication with the sensors receives the measured joint data as feedback signals, generates control signals using the feedback signals, and transmits the control signals to the actuators to thereby control an actuation state of the actuators.

Abstract: An electromechanical system operates through physical interaction with an operator, and includes a plurality of joints providing multiple degrees of freedom (DOF), including actuated joints and unactuated joints. The unactuated joints are distal with respect to the actuated joints and are in redundant DOF to the actuated joints. The system includes a plurality of actuators each configured to actuate one or more of the actuated joints, and a plurality of sensors each positioned with respect to a respective one of the actuated and unactuated joints. Each sensor is configured to measure corresponding joint data indicative of a position or angle of the respective actuated or unactuated joints. A controller in communication with the sensors receives the measured joint data as feedback signals, generates control signals using the feedback signals, and transmits the control signals to the actuators to thereby control an actuation state of the actuators.