Related papers: Optimal Dexterity for a Snake-like Surgical Manipu…
Robotic exoskeletons can enhance human strength and aid people with physical disabilities. However, designing them to ensure safety and optimal performance presents significant challenges. Developing exoskeletons should incorporate specific…
Microrobotics is an attractive area of research as small-scale robots have the potential to improve the precision and dexterity offered by minimally invasive surgeries. One example of such a tool is a pair of micro-surgical scissors that…
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…
This study presents the design and the kinematic optimization of a novel, underactuated, linkage-based robotic hand exoskeleton to assist users in performing grasping tasks. The device has been designed to apply only normal forces to the…
Advanced dexterous manipulation involving multiple simultaneous contacts across different surfaces, like pinching coins from ground or manipulating intertwined objects, remains challenging for robotic systems. Such tasks exceed the…
This paper presents a numerical method to conceive and design the kinematic model of an anthropomorphic robotic hand used for gesturing and grasping. In literature, there are few numerical methods for the finger placement of human-inspired…
Recent interest in mobile manipulation has resulted in a wide range of new robot designs. A large family of these designs focuses on modular platforms that combine existing mobile bases with static manipulator arms. They combine these…
Exoskeletons can boost human strength and provide assistance to individuals with physical disabilities. However, ensuring safety and optimal performance in their design poses substantial challenges. This study presents the design process…
This work tackles practical issues which arise when using a tendon-driven robotic manipulator (TDRM) with a long, flexible, passive proximal section in medical applications. Tendon-driven devices are preferred in medicine for their improved…
The inherent difficulty and limited scalability of collecting manipulation data using multi-fingered robot hand hardware platforms have resulted in severe data scarcity, impeding research on data-driven dexterous manipulation policy…
The high prevalence of work-related musculoskeletal disorders (WMSDs) could be addressed by optimizing Human-Robot Collaboration (HRC) frameworks for manufacturing applications. In this context, this paper proposes two hypotheses for…
In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and robot control techniques have been developed to aid in more…
The CYCLOPS is a cable-driven parallel mechanism used for minimally invasive applications, with the ability to be customised to different surgical needs; allowing it to be made procedure- and patient-specific. For adequate optimisation,…
Operating robots precisely and at high speeds has been a long-standing goal of robotics research. Balancing these competing demands is key to enabling the seamless collaboration of robots and humans and increasing task performance. However,…
Mechanical compliance is a key design parameter for dynamic contact-rich manipulation, affecting task success and safety robustness over contact geometry variation. Design of soft robotic structures, such as compliant fingers, requires…
Datasets are an essential component for training effective machine learning models. In particular, surgical robotic datasets have been key to many advances in semi-autonomous surgeries, skill assessment, and training. Simulated surgical…
One major recurring challenge in deploying manipulation robots is determining the optimal placement of manipulators to maximize performance. This challenge is exacerbated in complex, cluttered agricultural environments of high-value crops,…
Dexterous manipulation is a critical aspect of human capability, enabling interaction with a wide variety of objects. Recent advancements in learning from human demonstrations and teleoperation have enabled progress for robots in such…
Robotic assistance allows surgeons to perform dexterous and tremor-free procedures, but robotic aid is still underrepresented in procedures with constrained workspaces, such as deep brain neurosurgery and endonasal surgery. In these…
Dexterous manipulation is limited by both control and design, without consensus as to what makes manipulators best for performing dexterous tasks. This raises a fundamental challenge: how should we design and control robot manipulators that…