Related papers: Multi-Axis Force Sensing in Robotic Minimally Inva…
Vision-based Tactile Sensors (VBTSs) show significant promise in that they can leverage image measurements to provide high-spatial-resolution human-like performance. However, current VBTS designs, typically confined to the fingertips of…
Micromanipulation systems leverage automation and robotic technologies to improve the precision, repeatability, and efficiency of various tasks at the microscale. However, current approaches are typically limited to specific objects or…
This work presents a new fiberless soft pneumatic actuator that can work multifunctional and bidirectional, and its embedded sensors give it a self-proprioception ability. This actuator works based on the idea of employing helical pressure…
This paper presents a shear-based control scheme for grasping and manipulating delicate objects with a Pisa/IIT anthropomorphic SoftHand equipped with soft biomimetic tactile sensors on all five fingertips. These `microTac' tactile sensors…
Compliance control is essential for safe physical interaction, yet its adoption is limited by hardware requirements such as force torque sensors. While recent reinforcement learning approaches aim to bypass these constraints, they often…
This study proposes a non-contact photo-reflector-based joint torque sensor for precise joint-level torque control and safe physical interaction. Current-sensor-based torque estimation in many collaborative robots suffers from poor…
Surgical robotics is a rising field in medical technology and advanced robotics. Robot assisted surgery, or robotic surgery, allows surgeons to perform complicated surgical tasks with more precision, automation, and flexibility than is…
We theoretically show that a magnet can be stably levitated on top of a punctured superconductor sheet in the Meissner state without applying any external field. The trapping potential created by such induced-only superconducting currents…
This paper introduces a learning-based modeling framework for a magnetically steerable soft suction device designed for endoscopic endonasal brain tumor resection. The device is miniaturized (4 mm outer diameter, 2 mm inner diameter, 40 mm…
Most robotic hands and grippers rely on actuators with large gearboxes and force sensors for controlling gripping force. However, this might not be ideal for tasks which require the robot to interact with an unstructured and/or unknown…
Despite significant advancements in wireless smart implants over the last two decades, current implantable devices still operate passively and require additional electronic modules for wireless transmission of the stored biological data. To…
Tactile sensors have a wide range of applications, from utilization in robotic grippers to human motion measurement. If tactile sensors could be fabricated and integrated more easily, their applicability would further expand. In this study,…
Minimally invasive medical procedures, such as endovascular catheterization, have drastically reduced procedure time and associated complications. However, many regions inside the body, such as in the brain vasculature, still remain…
This paper has introduced a novel approach for the real-time estimation of 3D tactile forces exerted by human fingertips via vision only. The introduced approach is entirely monocular vision-based and does not require any physical force…
Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…
Tracking of rotation and translation of medical instruments plays a substantial role in many modern interventions. Traditional external optical tracking systems are often subject to line-of-sight issues, in particular when the region of…
Robot-assisted surgery is an emerging technology which has undergone rapid growth with the development of robotics and imaging systems. Innovations in vision, haptics and accurate movements of robot arms have enabled surgeons to perform…
In this paper, we propose a novel vision-based control algorithm for regulating the whole body shape of extensible multisection soft continuum manipulators. Contrary to existing vision-based control algorithms in the literature that…
This paper explores the concept of external magnetic control for vine robots to enable their high curvature steering and navigation for use in endoluminal applications. Vine robots, inspired by natural growth and locomotion strategies,…
Tactile sensing is a crucial perception mode for robots and human amputees in need of controlling a prosthetic device. Today robotic and prosthetic systems are still missing the important feature of accurate tactile sensing. This lack is…