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Recent advances in teleoperation have enabled sophisticated manipulation of dexterous robotic hands, with most systems concentrating on guiding finger positions to achieve desired grasp configurations. However, while accurate finger…
Tactile sensors provide information that can be used to learn and execute manipulation tasks. Different tasks, however, might require different levels of sensory information; which in turn likely affect learning rates and performance. This…
Human-in-the-loop telerobotic systems (HiLTS) are robotic tools designed to extend and in some circumstances improve the dexterous capabilities of the human operator in virtual and remote environments. Dexterous manipulation, however,…
Teleoperation provides a way for human operators to guide robots in situations where full autonomy is challenging or where direct human intervention is required. It can also be an important tool to teach robots in order to achieve…
Variable impedance actuators (VIAs) as tool devices for teleoperation could extend the range of tasks that humans can perform through a teleoperated robot by mimicking the change of upper limb stiffness that humans perform for different…
Teleoperation enables a user to perform dangerous tasks (e.g., work in disaster zones or in chemical plants) from a remote location. Nevertheless, common approaches often provide cumbersome and unnatural usage. In this letter, we propose…
In the context of surgery, robots can provide substantial assistance by performing small, repetitive tasks such as suturing, needle exchange, and tissue retraction, thereby enabling surgeons to concentrate on more complex aspects of the…
How can we train an assistive human-machine interface (e.g., an electromyography-based limb prosthesis) to translate a user's raw command signals into the actions of a robot or computer when there is no prior mapping, we cannot ask the user…
Shared control in teleoperation for providing robot assistance to accomplish object manipulation, called telemanipulation, is a new promising yet challenging problem. This has unique challenges--on top of teleoperation challenges in…
Building assistive interfaces for controlling robots through arbitrary, high-dimensional, noisy inputs (e.g., webcam images of eye gaze) can be challenging, especially when it involves inferring the user's desired action in the absence of a…
The flexible under-actuated musculoskeletal hand is superior in its adaptability and impact resistance. On the other hand, since the relationship between sensors and actuators cannot be uniquely determined, almost all its controls are based…
Estimation of a hand grip force is essential for the understanding of force pattern during the execution of assembly or disassembly operations. Human demonstration of a correct way of doing an operation is a powerful source of information…
Shared control, which combines human expertise with autonomous assistance, is critical for effective teleoperation in complex environments. While recent advances in haptic-guided teleoperation have shown promise, they are often limited to…
Model Predictive Control (MPC) schemes have proven their efficiency in controlling high degree-of-freedom (DoF) complex robotic systems. However, they come at a high computational cost and an update rate of about tens of hertz. This…
This paper presents the development and assessment of a teleoperation framework for robot-assisted minimally invasive surgery (MIS). The framework leverages our novel integration of an adaptive remote center of motion (RCM) using admittance…
Tele-operated robots rely on real-time user behavior mapping for remote tasks, but ensuring secure authentication remains a challenge. Traditional methods, such as passwords and static biometrics, are vulnerable to spoofing and replay…
Minimally invasive surgery (MIS) offers several advantages including minimum tissue injury and blood loss, and quick recovery time, however, it imposes some limitations on surgeons ability. Among others such as lack of tactile or haptic…
Indirect simultaneous positioning (ISP), where internal tissue points are placed at desired locations indirectly through the manipulation of boundary points, is a type of subtask frequently performed in robotic surgeries. Although…
Tool use is essential for enabling robots to perform complex real-world tasks, but learning such skills requires extensive datasets. While teleoperation is widely used, it is slow, delay-sensitive, and poorly suited for dynamic tasks. In…
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…