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This paper focuses on the challenging problem of 3D pose estimation of a diverse spectrum of articulated objects from single depth images. A novel structured prediction approach is considered, where 3D poses are represented as skeletal…
Operations in hazardous environments put humans, animals, and machines at high risk for physically damaging consequences. In contrast to humans and animals, quadruped robots cannot naturally identify and adjust their locomotion to a…
Labeling vertebral discs from MRI scans is important for the proper diagnosis of spinal related diseases, including multiple sclerosis, amyotrophic lateral sclerosis, degenerative cervical myelopathy and cancer. Automatic labeling of the…
Precise segmentation and anatomical identification of the vertebrae provides the basis for automatic analysis of the spine, such as detection of vertebral compression fractures or other abnormalities. Most dedicated spine CT and MR scans as…
The state space dynamics representation is the most general approach for nonlinear systems and often chosen for system identification. During training, the state trajectory can deform significantly leading to poor data coverage of the state…
Quantifying the safety of the human body orientation is an important issue in human-robot interaction. Knowing the changing physical constraints on human motion can improve inspection of safe human motions and bring essential information…
We present a data-driven workflow to biological tissue modeling, which aims to predict the displacement field based on digital image correlation (DIC) measurements under unseen loading scenarios, without postulating a specific constitutive…
Robust object pose estimation is essential for manipulation and interaction tasks in robotics, particularly in scenarios where visual data is limited or sensitive to lighting, occlusions, and appearances. Tactile sensors often offer limited…
Accurate matching of pedicle screws in both anteroposterior (AP) and lateral (LAT) images is critical for successful spinal decompression and stabilization during surgery. However, establishing screw correspondence, especially in LAT views,…
The diagnostic value of biopsies is highly dependent on the placement of needles. Robotic trajectory guidance has been shown to improve needle positioning, but feedback for real-time navigation is limited. Haptic display of needle tip…
A real-time stuck pipe prediction methodology is proposed in this paper. We assume early signs of stuck pipe to be apparent when the drilling data behavior deviates from that from normal drilling operations. The definition of normalcy…
Accurate and automatic segmentation of intervertebral discs from medical images is a critical task for the assessment of spine-related diseases such as osteoporosis, vertebral fractures, and intervertebral disc herniation. To date, various…
Knee osteoporosis weakens the bone tissue in the knee joint, increasing fracture risk. Early detection through X-ray images enables timely intervention and improved patient outcomes. While some researchers have focused on diagnosing knee…
Understanding the traversability of terrain is essential for autonomous robot navigation, particularly in unstructured environments such as natural landscapes. Although traditional methods, such as occupancy mapping, provide a basic…
Dynamic state representation learning is an important task in robot learning. Latent space that can capture dynamics related information has wide application in areas such as accelerating model free reinforcement learning, closing the…
We present a learning algorithm that uses bone-driven motion networks to predict the deformation of loose-fitting garment meshes at interactive rates. Given a garment, we generate a simulation database and extract virtual bones from…
A multiscale model for real-time simulation of terrain dynamics is explored. To represent the dynamics on different scales the model combines the description of soil as a continuous solid, as distinct particles and as rigid multibodies. The…
Monitoring structural damage is extremely important for sustaining and preserving the service life of civil structures. While successful monitoring provides resolute and staunch information on the health, serviceability, integrity and…
Artificial skin with the sense of touch can support robots to interact with the surrounding environment efficiently and accomplish complex tasks. Traditional multi-layered artificial skins require complex manufacturing processes which can…
Loss of mobility or balance resulting from neural trauma is a critical consideration in public health. Robotic exoskeletons hold great potential for rehabilitation and assisted movement, yet optimal assist-as-needed (AAN) control remains…