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Cooperative robots for intraocular surgery allow surgeons to perform vitreoretinal surgery with high precision and stability. Several robot structural designs have shown capabilities to perform these surgeries. This research investigates…
Robotic assistance allows surgeries to be reliably and accurately executed while still under direct supervision of the surgeon, combining the strengths of robotic technology with the surgeon's expertise. This paper describes a robotic…
In this paper, a reinforced soft robot prototype with a custom-designed actuator-space string encoder are created to investigate dynamic soft robotic trajectory tracking. The soft robot prototype embedded with the proposed adaptive…
In this work, we introduce the EyeSight Hand, a novel 7 degrees of freedom (DoF) humanoid hand featuring integrated vision-based tactile sensors tailored for enhanced whole-hand manipulation. Additionally, we introduce an actuation scheme…
During surgery, scrub nurses are required to frequently deliver surgical instruments to surgeons, which can lead to physical fatigue and decreased focus. Robotic scrub nurses provide a promising solution that can replace repetitive tasks…
Active inference, a theoretical construct inspired by brain processing, is a promising alternative to control artificial agents. However, current methods do not yet scale to high-dimensional inputs in continuous control. Here we present a…
Recent advances in telecommunications have enabled surgeons to operate remotely on patients with the use of robotics. The investigation and testing of remote surgery using a robotic arm is presented. The robotic arm is designed to have four…
Fluid-based soft actuators are an attractive option for lightweight and human-safe robots. These actuators, combined with fluid pressure force feedback, are in principle a form of series-elastic actuation (SEA), in which nearly all…
Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in…
This paper presents the application of an iterative learning control scheme to improve the position tracking performance for an articulated soft robotic arm during aggressive maneuvers. Two antagonistically arranged, inflatable bellows…
We present a new approach for vision-based force estimation in Minimally Invasive Robotic Surgery based on frequency domain basis of motion of organs derived directly from video. Using internal movements generated by natural processes like…
Surgical automation has the capability to improve the consistency of patient outcomes and broaden access to advanced surgical care in underprivileged communities. Shared autonomy, where the robot automates routine subtasks while the surgeon…
In recent decades, the tremendous benefits surgical robots have brought to surgeons and patients have been witnessed. With the dexterous operation and the great precision, surgical robots can offer patients less recovery time and less…
Adaptive falling and recovery skills greatly extend the applicability of robot deployments. In the case of legged mobile manipulators, the robot arm could adaptively stop the fall and assist the recovery. Prior works on falling and recovery…
In multi-point contact systems, precise force control is crucial for achieving stable and safe interactions between robots and their environment. Thus, we demonstrate an admittance controller with auto-tuning that can be applied for these…
We propose a robotic manipulation system that can pivot objects on a surface using vision, wrist force and tactile sensing. We aim to control the rotation of an object around the grip point of a parallel gripper by allowing rotational slip,…
The advent of tactile sensors in robotics has sparked many ideas on how robots can leverage direct contact measurements of their environment interactions to improve manipulation tasks. An important line of research in this regard is that of…
Robotic manipulation of tethered tools is widely seen in robotic work cells. They may cause excess strain on the tool's cable or undesired entanglements with the robot's arms. This paper presents a manipulation planner with cable…
Many keyhole interventions rely on bi-manual handling of surgical instruments, forcing the main surgeon to rely on a second surgeon to act as a camera assistant. In addition to the burden of excessively involving surgical staff, this may…
The ability of robots to navigate through doors is crucial for their effective operation in indoor environments. Consequently, extensive research has been conducted to develop robots capable of opening specific doors. However, the diverse…