Related papers: A Multi-Robot Cooperation Framework for Sewing Per…
Automatic surgical gesture recognition is fundamentally important to enable intelligent cognitive assistance in robotic surgery. With recent advancement in robot-assisted minimally invasive surgery, rich information including surgical…
Manipulating objects with robotic hands is a complicated task. Not only the fingers of the hand, but also the pose of the robot's end effector need to be coordinated. Using human demonstrations of movements is an intuitive and…
Human-robot shared control, which integrates the advantages of both humans and robots, is an effective approach to facilitate efficient surgical operation. Learning from demonstration (LfD) techniques can be used to automate some of the…
The purpose of this research is to design, fabricate and test a tendon driven a continuum soft robot with three modular segments, each of which has a tunable stiffness enabled by layer jamming technology. Compared with previous studies, the…
In this paper we introduce a new method simulating stent graft deployment for assisting endovascular repair of abdominal aortic aneurysms. The method relies on intraoperative images coupled with mechanical models. A multi-step algorithm has…
Integrating multimodal foundation models has significantly enhanced autonomous agents' language comprehension, perception, and planning capabilities. However, while existing works adopt a \emph{task-centric} approach with minimal human…
This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…
With the introduction of collaborative robots, humans and robots can now work together in close proximity and share the same workspace. However, this collaboration presents various challenges that need to be addressed to ensure seamless…
The growing presence of service robots in human-centric environments, such as warehouses, demands seamless and intuitive human-robot collaboration. In this paper, we propose a collaborative shelf-picking framework that combines multimodal…
Robot-assisted dressing is a popular but challenging topic in the field of robotic manipulation, offering significant potential to improve the quality of life for individuals with mobility limitations. Currently, the majority of research on…
With increasing demand for mass customization, traditional manufacturing robots that rely on rule-based operations lack the flexibility to accommodate customized or new product variants. Human-Robot Collaboration has demonstrated potential…
One central goal of robotics is to enable robots to interact with the physical world. Traditional manipulation studies primarily focus on single robots and relatively small objects. However, factory and domestic environments often require…
Ultrasound scanning robots enable the automatic imaging of a patient's internal organs by maintaining close contact between the ultrasound probe and the patient's body during a scanning procedure. Comprehensive, high-quality ultrasound…
There is a surge of research interest in the field of tensegrity robotics. Robots developed under this paradigm provide many advantages and have distinguishing features in terms of structural compliance, dexterity, safety, and weight…
Humans have impressive generalization capabilities when it comes to manipulating objects and tools in completely novel environments. These capabilities are, at least partially, a result of humans having internal models of their bodies and…
In collaborative tasks where humans work alongside machines, the robot's movements and behaviour can have a significant impact on the operator's safety, health, and comfort. To address this issue, we present a multi-stereo camera system…
Mobile autonomous robots have the potential to revolutionize manufacturing processes. However, employing large robot fleets in manufacturing requires addressing challenges including collision-free movement in a shared workspace, effective…
The research of a socially assistive robot has a potential to augment and assist physical therapy sessions for patients with neurological and musculoskeletal problems (e.g. stroke). During a physical therapy session, generating personalized…
This paper develops a robotic manipulation planner for human-robot collaborative assembly. Unlike previous methods which study an independent and fully AI-equipped autonomous system, this paper explores the subtask distribution between a…
Shared autonomy integrates user input with robot autonomy in order to control a robot and help the user to complete a task. Our work aims to improve the performance of such a human-robot team: the robot tries to guide the human towards an…