Related papers: Shape Sensing of Variable Stiffness Soft Robots us…
Soft robotics is a field of robotic system design characterized by materials and structures that exhibit large-scale deformation, high compliance, and rich multifunctionality. The incorporation of soft and deformable structures endows soft…
Incorrectly sized balloon catheters can lead to increased post-surgical complications, yet even with preoperative imaging, correct selection remains a challenge. With limited feedback during surgery, it is difficult to verify correct…
Electrical Impedance Tomography can be cost-effective, portable, non-invasive imaging technique. It has preclinical and a few of them already proven industrial applications. This technique can only recover images of low spatial and contrast…
A wireless wearable Electrical Impedance Tomography (EIT) system has been developed utilizing the AD5933 chip to achieve real-time imaging of lung respiration. The system employs a voltage excitation method tailored to human impedance…
This study presents an enhanced proprioceptive method for accurate shape estimation of soft robots using only off-the-shelf sensors, ensuring cost-effectiveness and easy applicability. By integrating inertial measurement units (IMUs) with…
Soft robots could bring robotic systems to new horizons, by enabling safe human-machine interaction. For precise control, these soft structures require high level position feedback that is not easily achieved through conventional…
Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…
Integrating Brain-Machine Interfaces into non-clinical applications like robot motion control remains difficult - despite remarkable advancements in clinical settings. Specifically, EEG-based motor imagery systems are still error-prone,…
Tactile skins based on Electrical Impedance Tomography (EIT) enable large-area contact localization with few electrodes, but suffer from nonuniform sensitivity that limits force estimation accuracy. This work introduces a dual-channel…
Electrical impedance tomography (EIT) is a promising technique for biomedical imaging. The strength of EIT is its ability to reconstruct images of the body's internal structures through radiation-safe techniques. EIT is regarded as safe for…
Objective: Inclusion of individualised electrical conductivities of head tissues is crucial for the accuracy of electrical source imaging techniques based on electro/magnetoencephalography and the efficacy of transcranial electrical…
Robots built from soft materials can alter their shape and size in a particular profile. This shape-changing ability could be extremely helpful for rescue robots and those operating in unknown terrains and environments. In changing shape,…
Objective: Fast neural Electrical Impedance Tomography (EIT) is a method which permits imaging of neuronal activity in nerves by measuring the associated impedance changes (dZ). Due to the small magnitudes of dZ signals, EIT parameters…
Estimating a soft robot's pose and applied forces, also called proprioception, is crucial for safe interaction of the robot with its environment. However, most solutions for soft robot proprioception use dedicated sensors, particularly for…
Electrical impedance tomography is an imaging modality for extracting information on the interior structure of a physical body from boundary measurements of current and voltage. This work studies a new robust way of modeling the contact…
Electrical Impedance Tomography (EIT) is a non-invasive medical imaging method that reconstructs electrical conductivity mediums from boundary voltage-current measurements, but its severe ill-posedness renders direct operator learning with…
Objective: In this work we address limitations in state-of-the-art ultrasound robots by designing and integrating a novel soft robotic system for ultrasound imaging. It employs the inherent qualities of soft fluidic actuators to establish…
Electrical impedance tomography (EIT) uses current-voltage measurements on the surface of an imaging subject to detect conductivity changes or anomalies. EIT is a promising new technique with great potential in medical imaging and…
This paper introduces a novel approach for modeling the dynamics of soft robots, utilizing a differentiable filter architecture. The proposed approach enables end-to-end training to learn system dynamics, noise characteristics, and temporal…
For soft robots to work effectively in human-centered environments, they need to be able to estimate their state and external interactions based on (proprioceptive) sensors. Estimating disturbances allows a soft robot to perform desirable…