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Background: Mammography is a specific type of breast imaging that uses low-dose X-rays to detect cancer in early stage. During the exam, the women breast is compressed between two plates in order to even out the breast thickness and to…
The safety and accuracy of robotic navigation hold paramount importance, especially in the realm of soft continuum robotics, where the limitations of traditional rigid sensors become evident. Encoders, piezoresistive, and potentiometer…
EMG-based gesture recognition shows promise for human-machine interaction. Systems are often afflicted by signal and electrode variability which degrades performance over time. We present an end-to-end system combating this variability…
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…
We present a numerical macrospin model for harmonic voltage detection in multilayer spintronic devices. The core of the computational backend is based on the Landau-Lifshitz-Gilbert-Slonczewski equation, which combines high performance with…
Compressive sensing is the newly emerging method in information technology that could impact array beamforming and the associated engineering applications. However, practical measurements are inevitably polluted by noise from external…
Intelligent reflecting surface (IRS), which consists of a large number of tunable reflective elements, is capable of enhancing the wireless propagation environment in a cellular network by intelligently reflecting the electromagnetic waves…
Soft robots are increasingly used in healthcare, especially for assistive care, due to their inherent safety and adaptability. Controlling soft robots is challenging due to their nonlinear dynamics and the presence of time delays,…
Artificial intelligence have contributed to advancements across various industries. However, the rapid growth of artificial intelligence technologies also raises concerns about their environmental impact, due to associated carbon footprints…
This paper introduces a framework for state estimation on a humanoid robot platform using only common proprioceptive sensors and knowledge of leg kinematics. The presented approach extends that detailed in [1] on a quadruped platform by…
There are several numerical models that describe real phenomena being used to solve complex problems. For example, an accurate numerical breast model can provide assistance to surgeons with visual information of the breast as a result of a…
There is a surge of research interest in the field of tensegrity robotics. Robots developed under this paradigm provide many advantages and have distinguishing features in terms of structural compliance, dexterity, safety, and weight…
With the sensor scaling of next-generation Brain-Machine Interface (BMI) systems, the massive A/D conversion and analog multiplexing at the neural frontend poses a challenge in terms of power and data rates for wireless and implantable…
Surface electromyography (sEMG) has demonstrated significant potential in simultaneous and proportional control (SPC). However, existing algorithms for predicting joint angles based onsEMGoften suffer fromhigh inference costs or are limited…
Constraint-aware estimation of human intent is essential for robots to physically collaborate and interact with humans. Further, to achieve fluid collaboration in dynamic tasks intent estimation should be achieved in real-time. In this…
Robust robot manipulation in unstructured environments often requires understanding object properties that extend beyond geometry, such as material or compliance-properties that can be challenging to infer using vision alone. Multimodal…
Creating haptic interfaces capable of rendering the rich sensation needed for dexterous manipulation is crucial for the advancement of human-in-the-loop telerobotic systems (HiLTS). One limiting factor has been the absence of detailed…
Collimation with hollow electron beams is a technique for halo control in high-power hadron beams. It is based on an electron beam (possibly pulsed or modulated in intensity) guided by strong axial magnetic fields which overlaps with the…
The task of compressed sensing is to recover a sparse vector from a small number of linear and non-adaptive measurements, and the problem of finding a suitable measurement matrix is very important in this field. While most recent works…
The need for compliant and proprioceptive actuators has grown more evident in pursuing more adaptable and versatile robotic systems. Hydraulically Amplified Self-Healing Electrostatic (HASEL) actuators offer distinctive advantages with…