Related papers: Using an Improved Output Feedback MPC Approach for…
Accurate and robust tracking and reconstruction of the surgical scene is a critical enabling technology toward autonomous robotic surgery. Existing algorithms for 3D perception in surgery mainly rely on geometric information, while we…
Virtual Reality (VR) has made significant strides, offering users a multitude of ways to interact with virtual environments. Each sensory modality in VR provides distinct inputs and interactions, enhancing the user's immersion and presence.…
Haptic perception and feedback play a pivotal role in interactive experiences, forming an essential component of human-computer interaction (HCI). In recent years, the field of haptic interaction has witnessed significant advancements,…
Modeling the dynamic behavior of deformable objects is crucial for creating realistic digital worlds. While conventional simulations produce high-quality motions, their computational costs are often prohibitive. Subspace simulation…
Modular multilevel converters (MMCs) are widely used in the design of modern high-voltage direct current (HVdc) transmission system. High-fidelity dynamic models of MMCs-based HVdc system require small simulation time step and can be…
Haptic feedback to the surgeon during robotic surgery would enable safer and more immersive surgeries but estimating tissue interaction forces at the tips of robotically controlled surgical instruments has proven challenging. Few existing…
Robotic manipulation in unstructured environments requires reliable execution under diverse conditions, yet many state-of-the-art systems still struggle with high-dimensional action spaces, sparse rewards, and slow generalization beyond…
Patient safety training is essential for preparing healthcare professionals to identify, investigate, and prevent adverse events. However, conventional simulation-based approaches often require substantial faculty time, physical resources,…
The embodied learning of human motor control requires whole-body neuro-actuated musculoskeletal dynamics, while the internal muscle-driven processes underlying movement remain inaccessible to direct measurement. Computational modeling…
This paper investigates the integration of force feedback in Digital Musical Instruments (DMI), specifically evaluating the reproduction of intricate vibrato techniques using haptic feedback controllers. We introduce our system for vibrato…
Recently the hardware emulation technique has emerged as a promising approach to accelerating hardware verification/debugging process. To fully evaluate the powerfulness of the emulation approach and demonstrate its potential impact, we…
Biomimetic and compliant robotic hands offer the potential for human-like dexterity, but controlling them is challenging due to high dimensionality, complex contact interactions, and uncertainties in state estimation. Sampling-based model…
Mechanical Circulatory Support (MCS) devices, implemented as a probabilistic deep sequence model. Existing mechanical simulators for MCS rely on oversimplifying assumptions and are insensitive to patient-specific behavior, limiting their…
Grasping is a core task in robotics with various applications. However, most current implementations are primarily designed for rigid items, and their performance drops considerably when handling fragile or deformable materials that require…
Model predictive control (MPC) is a promising technique for motion cueing in driving simulators, but its high computation time limits widespread real-time application. This paper proposes a hybrid algorithm that combines filter-based and…
With the development of Integrated Sensing and Communication (ISAC) for Sixth-Generation (6G) wireless systems, contactless human recognition has emerged as one of the key application scenarios. Since human gesture motion induces subtle and…
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…
Developing exoskeleton controllers that generalize across diverse locomotor conditions typically requires extensive motion-capture data and biomechanical labeling, limiting scalability beyond instrumented laboratory settings. Here, we…
We introduce multiple physics pretraining (MPP), an autoregressive task-agnostic pretraining approach for physical surrogate modeling of spatiotemporal systems with transformers. In MPP, rather than training one model on a specific physical…
While vibration is a well-used output signal in HCI as part of haptic interaction, vibration outside HCI is used in many other modes to support human performance, from rehabilitation to cognition. In this late breaking work, we present…