Related papers: Closed-Loop Magnetic Manipulation for Robotic Tran…
Endoscopic endonasal approaches (EEA) have become more prevalent for minimally invasive skull base and sinus surgeries. However, rigid scopes and tools significantly decrease the surgeon's ability to operate in tight anatomical spaces and…
Transcranial magnetic stimulation (TMS) is a noninvasive medical procedure that can modulate brain activity, and it is widely used in neuroscience and neurology research. Compared to manual operators, robots may improve the outcome of TMS…
In this article, we propose Echo, a novel joint-matching teleoperation system designed to enhance the collection of datasets for manual and bimanual tasks. Our system is specifically tailored for controlling the UR manipulator and features…
Strain-mediated magnetoelectric (ME) heterostructures enable electric-field control of magnetism and are promising for ultra-low-power spintronic logic. Yet achieving spatially selective, low-voltage control in thin films and quantifying ME…
The two most common components of several upcoming CMB experiments are large arrays of superconductive TES (Transition-Edge Sensor) detectors and polarization modulator units, e.g. continuously-rotating Half-Wave Plates (HWP). A high…
Transcranial Electrical Stimulation (tES) is a neuromodulation technique that utilizes electrodes on the scalp to stimulate target brain regions. tES has shown promise in treating many neurological conditions, such as stroke rehabilitation…
Topological entanglement entropy (TEE) is an efficient way to detect topological order in the ground state of gapped Hamiltonians. The seminal work of Kitaev and Preskill~\cite{preskill-kitaev-tee} and simultaneously by Levin and…
Due to its non-invasive and painless characteristics, wireless capsule endoscopy has become the new gold standard for assessing gastrointestinal disorders. Omissions, however, could occur throughout the examination since controlling capsule…
Reliable and real-time 3D reconstruction and localization functionality is a crucial prerequisite for the navigation of actively controlled capsule endoscopic robots as an emerging, minimally invasive diagnostic and therapeutic technology…
Combining a vision module inside a closed-loop control system for a \emph{seamless movement} of a robot in a manipulation task is challenging due to the inconsistent update rates between utilized modules. This task is even more difficult in…
Transcranial magnetic stimulation combined with electroencephalography (TMS-EEG) is widely used to study the reactivity and connectivity of brain regions for clinical or research purposes. The electromagnetic pulse of the TMS device…
Humans can effortlessly perform very complex, dexterous manipulation tasks by reacting to sensor observations. In contrast, robots can not perform reactive manipulation and they mostly operate in open-loop while interacting with their…
We propose to synthesize feasible caging grasps for a target object through computing Caging Loops, a closed curve defined in the shape embedding space of the object. Different from the traditional methods, our approach decouples caging…
Metal-organic frameworks (MOFs) are highly promising for carbon capture, yet navigating their vast design space remains challenging. Recent deep generative models enable de novo MOF design but primarily act as feed-forward structure…
Background: Transcranial magnetic stimulation (TMS) is a powerful tool to investigate neurophysiology of the human brain and treat brain disorders. Traditionally, therapeutic TMS has been applied in a one-size-fits-all approach,…
The Kitaev surface-code model is the most studied example of a topologically ordered phase and typically involves four-spin interactions on a two-dimensional surface. A universal signature of this phase is topological entanglement entropy…
Endovascular guidewire manipulation is essential for minimally-invasive clinical applications (Percutaneous Coronary Intervention (PCI), Mechanical thrombectomy techniques for acute ischemic stroke (AIS), or Transjugular intrahepatic…
Targeted drug delivery in the gastrointestinal (GI) tract using magnetic robots offers a promising alternative to systemic treatments. However, controlling these robots is a major challenge. Stationary magnetic systems have a limited…
Rehabilitation robotics continues to confront substantial challenges, particularly in achieving smooth, safe, and intuitive human-robot interactions for upper limb motor training. Many current systems depend on complex mechanical designs,…
Current imaging techniques in echography rely on the pulse-echo (PE) paradigm which provides a straight-forward access to the in-depth structure of tissues. They inherently face two major challenges: the limitation of the pulse repetition…