Related papers: Wrist-Squeezing Force Feedback Improves Accuracy a…
Recent advances in robot-assisted surgery have resulted in progressively more precise, efficient, and minimally invasive procedures, sparking a new era of robotic surgical intervention. This enables doctors, in collaborative interaction…
This paper builds on our previous work by exploiting Artificial Intelligence to predict individual grip force variability in manual robot control. Grip forces were recorded from various loci in the dominant and non dominant hands of…
Purpose: We study the relationship between surgical gestures and motion primitives in dry-lab surgical exercises towards a deeper understanding of surgical activity at fine-grained levels and interpretable feedback in skill assessment.…
Humanoid robot technologies have demonstrated immense potential for minimally invasive surgery (MIS). Unlike dedicated multi-arm surgical platforms, the inherent dual-arm configuration of humanoid robots necessitates an efficient instrument…
The contact-rich nature of manipulation makes it a significant challenge for robotic teleoperation. While haptic feedback is critical for contact-rich tasks, providing intuitive directional cues within wearable teleoperation interfaces…
Robotic manipulation is essential for the widespread adoption of robots in industrial and home settings and has long been a focus within the robotics community. Advances in artificial intelligence have introduced promising learning-based…
Developing kinesthetic haptic devices with advanced haptic rendering capabilities is challenging due to the limitations on driving mechanisms. In this study, we introduce a novel soft electrohydraulic actuator and develop a kinesthetic…
This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…
Robotic microsurgery demands precise bimanual control, intuitive interaction, and informative force feedback. However, most training platforms for robotic microsurgery lack immersive 3D interaction and high-fidelity haptics. Here, we…
Effective force modulation during tissue manipulation is important for ensuring safe robot-assisted minimally invasive surgery (RMIS). Strict requirements for in-vivo distal force sensing have led to prior sensor designs that trade off ease…
Given the task of learning robotic grasping solely based on a depth camera input and gripper force feedback, we derive a learning algorithm from an applied point of view to significantly reduce the amount of required training data. Major…
In this paper we introduce a novel framework for expressing and learning force-sensitive robot manipulation skills. It is based on a formalism that extends our previous work on adaptive impedance control with meta parameter learning and…
In the field of robotics, robot teleoperation for remote or hazardous environments has become increasingly vital. A major challenge is the lag between command and action, negatively affecting operator awareness, performance, and mental…
Timely and effective feedback within surgical training plays a critical role in developing the skills required to perform safe and efficient surgery. Feedback from expert surgeons, while especially valuable in this regard, is challenging to…
Dynamic in-hand manipulation remains a challenging task for soft robotic systems that have demonstrated advantages in safe compliant interactions but struggle with high-speed dynamic tasks. In this work, we present SWIFT, a system for…
Automation of surgical tasks using cable-driven robots is challenging due to backlash, hysteresis, and cable tension, and these issues are exacerbated as surgical instruments must often be changed during an operation. In this work, we…
Soft robotic fingers can improve adaptability in grasping and manipulation, compensating for geometric variation in object or environmental contact, but today lack force capacity and fine dexterity. Integrated tactile sensors can provide…
It is challenging to develop two thoughts at the same time or perform two uncorrelated motions simultaneously. This work looks specifically towards training humans to perform a 2:3 polyrhythmic bimanual ratio using haptic force feedback…
Retinal microsurgery is a high-precision surgery performed on an exceedingly delicate tissue. It now requires extensively trained and highly skilled surgeons. Given the restricted range of instrument motion in the confined intraocular…
Haptic feedback increases the realism of virtual environments. This paper proposes a wearable haptic device that renders torque feedback to the user's wrist from any angle. The device comprises a control part and a handle part. The control…