Related papers: Haptic Feedback in Natural Orifice Transluminal En…
This study addresses the challenge of low dexterity in teleoperation tasks caused by limited sensory feedback and visual occlusion. We propose a novel approach that integrates haptic feedback into teleoperation using the adaptive triggers…
In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a strain sensor attached on the finger's…
Robotic surgery has been proven to offer clear advantages during surgical procedures, however, one of the major limitations is obtaining haptic feedback. Since it is often challenging to devise a hardware solution with accurate force…
Force feedback gloves in haptic applications remain constrained by limited adaptability, simplified feedback, and fixed architectures that limit force feedback versatility. To address these challenges, we present KinesCeTI, a modular force…
Aerial manipulation requires force-aware capabilities to enable safe and effective grasping and physical interaction. Previous works often rely on heavy, expensive force sensors unsuitable for typical quadrotor platforms, or perform…
The human-machine interface is of critical importance for master-slave control of the robotic system for surgery, in which current systems offer the control or two robotic arms teleoperated by the surgeon's hands. To relax the need for…
Telerobotics enables humans to overcome spatial constraints and physically interact with the environment in remote locations. However, the sensory feedback provided by the system to the user is often purely visual, limiting the user's…
The diagnostic value of biopsies is highly dependent on the placement of needles. Robotic trajectory guidance has been shown to improve needle positioning, but feedback for real-time navigation is limited. Haptic display of needle tip…
We present a mesoscale finger-mounted 4-degree-of-freedom (DoF) haptic device that is created using origami fabrication techniques. The 4-DoF device is a parallel kinematic mechanism capable of delivering normal, shear, and torsional haptic…
This paper presents a novel multi-axis force-sensing approach in robotic minimally invasive surgery with no modification to the surgical instrument. Thus, it is adaptable to different surgical instruments. A novel 6-axis optical force…
Humans process significantly more information through the sense of touch than through vision. Consequently, haptics for telemanipulation is poised to become essential in the coming years, as it offers operators an additional sensory channel…
Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…
This study presents a conceptual design of laparoscopic forceps whose grasping torque can be directly controlled by the user. By integrating an adjustable constant torque mechanism, the handle opening angle is converted to the grasping…
Force estimation using neural networks is a promising approach to enable haptic feedback in minimally invasive surgical robots without end-effector force sensors. Various network architectures have been proposed, but none have been tested…
Integrating accurate haptic feedback into robot-assisted minimally invasive surgery (RAMIS) remains challenging due to difficulties in precise force rendering and ensuring system safety during teleoperation. We present a Nonlinear Impedance…
Haptic interaction is essential for the dynamic dexterity of animals, which seamlessly switch from an impedance to an admittance behaviour using the force feedback from their proprioception. However, this ability is extremely challenging to…
Recent advances in teleoperation have enabled sophisticated manipulation of dexterous robotic hands, with most systems concentrating on guiding finger positions to achieve desired grasp configurations. However, while accurate finger…
The flexible under-actuated musculoskeletal hand is superior in its adaptability and impact resistance. On the other hand, since the relationship between sensors and actuators cannot be uniquely determined, almost all its controls are based…
Mechanically characterizing the human-machine interface is essential to understanding user behavior and optimizing wearable robot performance. This interface has been challenging to sensorize due to manufacturing complexity and non-linear…
Wrist-worn haptic interfaces can deliver a wide range of tactile cues for communication of information and interaction with virtual objects. Unlike fingertips, the wrist and forearm provide a considerably large area of skin that allows the…