Related papers: Model-Based Compensation of Moving Tissue for Stat…
Automatic vertebra localization and identification in CT scans is important for numerous clinical applications. Much progress has been made on this topic, but it mostly targets positional localization of vertebrae, ignoring their…
Anomaly detection in surveillance videos is challenging and important for ensuring public security. Different from pixel-based anomaly detection methods, pose-based methods utilize highly-structured skeleton data, which decreases the…
In the first part of this thesis, we present our efforts on experimental validation of the predictive performance of mechanics-based mathematical models on a physical one-legged hopping robot platform. We extend upon a recently proposed…
Pose detection is one of the fundamental steps for the recognition of human actions. In this paper we propose a novel trainable detector for recognizing human poses based on the analysis of the skeleton. The main idea is that a skeleton…
Environment awareness is crucial for enhancing walking safety and stability of amputee wearing powered prosthesis when crossing uneven terrains such as stairs and obstacles. However, existing environmental perception systems for prosthesis…
General robot manipulation requires the handling of previously unseen objects. Learning a physically accurate model at test time can provide significant benefits in data efficiency, predictability, and reuse between tasks. Tactile sensing…
State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D world. Among sensors that are designed for measuring a robot's pose, or for soft…
A recently developed Projection-based Digital Image Correlation (P-DVC) method is here extended to 4D (space and time) displacement field measurement and mechanical identification based on a single radiograph per loading step instead of…
Precise identification of dynamic models in robotics is essential to support control design, friction compensation, output torque estimation, etc. A longstanding challenge remains in the identification of friction models for robotic joints,…
This paper presents a method for automatic segmentation, localization, and identification of vertebrae in arbitrary 3D CT images. Many previous works do not perform the three tasks simultaneously even though requiring a priori knowledge of…
Image-guided minimally invasive robotic surgery is commonly employed for tasks such as needle biopsies or localized therapies. However, the nonlinear deformation of various tissue types presents difficulties for surgeons in achieving…
Background: Pressure mapping technology has been adapted to monitor over prolonged periods to evaluate pressure ulcer risk in individuals during extended lying postures. However, temporal pressure distribution signals are not currently used…
Spine injections are commonly performed in several clinical procedures. The localization of the target vertebral level (i.e. the position of a vertebra in a spine) is typically done by back palpation or under X-ray guidance, yielding either…
Parkinson's disease (PD) is a neurological disorder requiring early and accurate diagnosis for effective management. Machine learning (ML) has emerged as a powerful tool to enhance PD classification and diagnostic accuracy, particularly by…
Haptic feedback to the surgeon during robotic surgery would enable safer and more immersive surgeries but estimating tissue interaction forces at the tips of robotically controlled surgical instruments has proven challenging. Few existing…
Precise robotic grasping is important for many industrial applications, such as assembly and palletizing, where the location of the object needs to be controlled and known. However, achieving precise grasps is challenging due to noise in…
A transhumeral prosthesis restores missing anatomical segments below the shoulder, including the hand. Active prostheses utilize real-valued, continuous sensor data to recognize patient target poses, or goals, and proactively move the…
Modern canine applications span medical and service roles, while robotic legged dogs serve as autonomous platforms for high-risk industrial inspection, disaster response, and search and rescue operations. For both, accurate positioning…
Rising global food demand and harsh working conditions make fruit harvest an important domain to automate. Peduncle localization is an important step for any automated fruit harvesting system, since fruit separation techniques are highly…
This study aimed to develop daily living support robots for patients with hemiplegia and the elderly. To support the daily living activities using robots in ordinary households without imposing physical and mental burdens on users, the…