{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,28]],"date-time":"2026-02-28T17:55:36Z","timestamp":1772301336464,"version":"3.50.1"},"reference-count":21,"publisher":"ASME International","issue":"2","license":[{"start":{"date-parts":[[2023,10,19]],"date-time":"2023-10-19T00:00:00Z","timestamp":1697673600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.asme.org\/publications-submissions\/publishing-information\/legal-policies"}],"content-domain":{"domain":["asmedigitalcollection.asme.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2024,5,1]]},"abstract":"<jats:title>Abstract<\/jats:title>\n               <jats:p>This paper reports on the development of a novel soft robotic system for remote ultrasound applications. Direct contact of the ultrasound probe with the patient's body represents a safety risk and therefore control of the probe's positioning and applied force is a crucial task. The proposed robot uses a passive control system that provides safe interaction between the robot and the patient by leveraging soft robotics technology. The soft robot's structure can be considered as a nonlinear spring which can be designed to exert a safe force within the robot's workspace to guarantee the safety of human\u2013robot interaction. The literature suggests that effective ultrasound imaging of both the heart and abdomen requires six degrees-of-freedom. These degrees-of-freedom consist of three translational motions, which are achieved using a novel hybrid soft cable-driven parallel robot, and three wrist motions, which is based on a universal joint design. The experimental results show that the robot can achieve all these six degrees-of-freedom, and its blocking force can be engineered to generate a uniform force within the workspace.<\/jats:p>","DOI":"10.1115\/1.4063469","type":"journal-article","created":{"date-parts":[[2023,9,23]],"date-time":"2023-09-23T08:36:38Z","timestamp":1695458198000},"update-policy":"https:\/\/doi.org\/10.1115\/crossmarkpolicy-asme","source":"Crossref","is-referenced-by-count":2,"title":["Toward Development of Novel Remote Ultrasound Robotic System Using Soft Robotics Technology"],"prefix":"10.1115","volume":"7","author":[{"given":"Sky","family":"Papendorp","sequence":"first","affiliation":[{"name":"Department of Robotics and Mechatronics Engineering, Kennesaw State University , Marietta, GA 30060"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ammy","family":"Ovando","sequence":"additional","affiliation":[{"name":"Department of Robotics and Mechatronics Engineering, Kennesaw State University , Marietta, GA 30060"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Saleh","family":"Gharaie","sequence":"additional","affiliation":[{"name":"School of Engineering, Deakin University , Geelong 3216, VIC, Australia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bobak","family":"Mosadegh","sequence":"additional","affiliation":[{"name":"Department of Radiology, Dalio Institute of Cardiovascular Imaging, Weill Cornell Medicine New York, NY 10021"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3066-3759","authenticated-orcid":false,"given":"David","family":"Guerra-Zubiaga","sequence":"additional","affiliation":[{"name":"Department of Robotics and Mechatronics Engineering, Kennesaw State University , Marietta, GA 30060"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Seyedhamidreza","family":"Alaie","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering, New Mexico State University , Las Cruces, NM 88003"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Turaj","family":"Ashuri","sequence":"additional","affiliation":[{"name":"Southern Polytechnic College of Engineering and Engineering Technology, Kennesaw State University , Marietta, GA 30060"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Amir Ali","family":"Amiri Moghadam","sequence":"additional","affiliation":[{"name":"Department of Robotics and Mechatronics Engineering, Kennesaw State University , Marietta, GA 30060"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"33","published-online":{"date-parts":[[2023,10,19]]},"reference":[{"issue":"2","key":"2023102015311470500_bib1","doi-asserted-by":"crossref","first-page":"204","DOI":"10.1007\/s42235-018-0016-x","article-title":"A Bio-Inspired Soft Robotic Arm: Kinematic Modeling and Hydrodynamic Experiments","volume":"15","year":"2018","journal-title":"J. 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