Related papers: Real-time visio-haptic interaction with static sof…
When inverse kinematics (IK) is adopted to control robotic arms in manipulation tasks, there is often a discrepancy between the end effector (EE) position of the robot model in the simulator and the physical EE in reality. In most robotic…
Accurate and efficient prediction of soft tissue temperatures is essential to computer-assisted treatment systems for thermal ablation. It can be used to predict tissue temperatures and ablation volumes for personalised treatment planning…
Non-flat surfaces pose difficulties for robots operating in unstructured environments. Reconstructions of uneven surfaces may only be partially possible due to non-compliant end-effectors and limitations on vision systems such as…
Haptic feedback is the most significant sensory interface following visual cues. Developing thin, flexible surfaces that function as haptic interfaces is important for augmenting virtual reality, wearable devices, robotics and prostheses.…
Finite element methods (FEM) are popular approaches for simulation of soft tissues with elastic or viscoelastic behavior. However, their usage in real-time applications, such as in virtual reality surgical training, is limited by…
Lower Limb Exoskeletons (LLEs) are wearable robots that provide mechanical power to the user. Human-exoskeleton (HE) connections must preserve the user's natural behavior during the interaction, avoiding undesired forces. Therefore,…
In this study we present a kinematic approach to modeling needle insertion into soft tissues. The kinematic approach allows the presentation of the problem as Dirichlet-type (i.e. driven by enforced motion of boundaries) and therefore…
The complex physical properties of highly deformable materials such as clothes pose significant challenges fanipulation systems. We present a novel visual feedback dictionary-based method for manipulating defoor autonomous robotic mrmable…
In high intensity focused ultrasound (HIFU) systems using non-ionizing methods in cancer treatment, if the device is applied to the body externally, the HIFU beam can damage nearby healthy tissues and burn skin due to lack of knowledge…
The interplay of membrane proteins is vital for many biological processes, such as cellular transport, cell division, and signal transduction between nerve cells. Theoretical considerations have led to the idea that the membrane itself…
This paper introduces the methodology proposed by our group to model the biological soft tissues deformations and to couple these models with Computer-Assisted Surgical (CAS) applications. After designing CAS protocols that mainly focused…
In this paper, we present a 2D numerical model developed to simulate the dynamics of soft, deformable particles. To accommodate significant particle deformations, the particle surface is represented as a narrow shell composed of mass points…
Recent experimental developments showed that the use of the radiation pressure, induced by a continuous laser wave, to control fluid-fluid interface deformations at the microscale, represents a very promising alternative to electric or…
We present a mathematical model of polymer bilayers that undergo large bending deformations when actuated by non-mechanical stimuli such as thermal effects. The simple model captures a large class of nonlinear bending effects and can be…
Haptic feedback is important to make robots more dexterous and effective in unstructured environments. High-resolution haptic sensors are still not widely available, and their application is often bound by the resolution-robustness dilemma.…
We study some aspects of hydrophobic interaction between molecular rough and flexible model surfaces. The model we use in this work is based on a model we used previously (Eun, C.; Berkowitz, M. L. J. Phys. Chem. B 2009, 113, 13222-13228),…
This paper presents a survey of the state-of-the-art deformable models studied in the literature concerning soft tissue deformable modeling for interactive surgical simulation. It first introduces the challenges of surgical simulation,…
We propose a three dimensional mechanical model of embryonic tissue dynamics. Mechanically coupled adherent cells are represented as particles interconnected with elastic beams which can exert non-central forces and torques. Tissue…
Wearable fingertip haptic devices are critical for realistic interaction in virtual reality, augmented reality, and teleoperation, yet existing approaches struggle to simultaneously achieve adequate tactile output, low mass, simple…
We present a principled method for dynamic simulation of rigid bodies in intermittent contact with each other where the contact is assumed to be a non-convex contact patch that can be modeled as a union of convex patches. The prevalent…