Related papers: Understanding Soft-Tissue Behavior for Application…
A machine-learning method for extracting the short-range part of the probe-surface interaction from force spectroscopy curves is presented. Our machine-learning algorithm consists of two stages: the first stage determines a boundary that…
The morphology of a slender soft-robot can be modified by sensing its shape via sensors and exerting moments via actuators embedded along its body. The actuating moments required to morph these soft-robots to a desired shape are often…
The mechanisms of infant development are far from understood. Learning about one's own body is likely a foundation for subsequent development. Here we look specifically at the problem of how spontaneous touches to the body in early infancy…
Capturing biological specimens at large scales with sub-micron resolution is crucial for biomedical research, but conventional cameras often can't handle the pixel requirements. While most microscopes use motorized stages to move samples…
Tactile sensing represents a crucial technique that can enhance the performance of robotic manipulators in various tasks. This work presents a novel bioinspired neuromorphic vision-based tactile sensor that uses an event-based camera to…
Cloth detection and manipulation is a common task in domestic and industrial settings, yet such tasks remain a challenge for robots due to cloth deformability. Furthermore, in many cloth-related tasks like laundry folding and bed making, it…
Incompressibility, nonlinear deformation under stress and viscoelasticity are the fingerprint of soft tissue mechanical behavior. In order to model soft tissues appropriately, we must pursue to complete these requirements. In this work we…
Recent years have seen soft robotic grippers gain increasing attention due to their ability to robustly grasp soft and fragile objects. However, a commonly available standardised evaluation protocol has not yet been developed to assess the…
Robot-assisted neurological surgery is receiving growing interest due to the improved dexterity, precision, and control of surgical tools, which results in better patient outcomes. However, such systems often limit surgeons' natural sensory…
Object manipulation in robotics faces challenges due to diverse object shapes, sizes, and fragility. Gripper-based methods offer precision and low degrees of freedom (DOF) but the gripper limits the kind of objects to grasp. On the other…
Eye trackers can provide visual guidance to sonographers during ultrasound (US) scanning. Such guidance is potentially valuable for less experienced operators to improve their scanning skills on how to manipulate the probe to achieve the…
Purpose: Comprehensive legal medicine documentation includes both an internal but also an external examination of the corpse. Typically, this documentation is conducted manually during conventional autopsy. A systematic digital…
Laparoscopic Surgery (LS) is a modern surgical technique whereby the surgery is performed through an incision with tools and camera as opposed to conventional open surgery. This promises minimal recovery times and less hemorrhaging. Multi…
Surveillance and surveying are two important applications of empirical research. A major part of terrain modelling is supported by photographic surveys which are used for capturing expansive natural surfaces using a wide range of sensors --…
Robotics and automation are key enablers to increase throughput in ongoing conservation efforts across various threatened ecosystems. Cataloguing, digitisation, husbandry, and similar activities require the ability to interact with…
In robotic manipulation, preventing objects from slipping and establishing a secure grip on them is critical. Successful manipulation requires tactile sensors that detect the microscopic incipient slip phenomenon at the contact surface.…
Perceiving the environment through touch is important for robots to reach in cluttered environments, but devising a way to sense without disturbing objects is challenging. This work presents the design and modelling of whisker-inspired…
Despite the high diagnostic accuracy of Magnetic Resonance Imaging (MRI), using MRI as a Point-of-Care (POC) disease identification tool poses significant accessibility challenges due to the use of high magnetic field strength and lengthy…
This paper proposes a novel method for modeling human retinal cone distribution. It is based on Blue-noise sampling algorithms that share interesting properties with the sampling performed by the mosaic formed by cone photoreceptors in the…
Soft bodies made from flexible and deformable materials are popular in many robotics applications, but their proprioceptive sensing has been a long-standing challenge. In other words, there has hardly been a method to measure and model the…