Related papers: Haptics-Enabled Forceps with Multi-Modal Force Sen…
In minimally invasive telesurgery, obtaining accurate force information is difficult due to the complexities of in-vivo end effector force sensing. This constrains development and implementation of haptic feedback and force-based automated…
In general, robotic dexterous hands are equipped with various sensors for acquiring multimodal contact information such as position, force, and pose of the grasped object. This multi-sensor-based design adds complexity to the robotic…
Robotic manipulation of highly deformable cloth presents a promising opportunity to assist people with several daily tasks, such as washing dishes; folding laundry; or dressing, bathing, and hygiene assistance for individuals with severe…
Haptic devices have shown to be valuable in supplementing surgical training, especially when providing haptic feedback based on user performance metrics such as wrench applied by the user on the tool. However, current 6-axis force/torque…
Flexible tendon sheath mechanism is commonly used in NOTES systems because it offers high flexibility, light weight, and easy transmission. Due to the size constraints and sterilization problems, traditional sensors like force/torque sensor…
Haptic feedback has been a long-missed feature in robotic-assisted surgery, one that would allow surgeons to perceive tissue properties and apply controlled forces during delicate procedures. Although commercial robotic systems have begun…
Vision-based tactile sensors have gained extensive attention in the robotics community. The sensors are highly expected to be capable of extracting contact information i.e. haptic information during in-hand manipulation. This nature of…
Robot-assisted dressing could profoundly enhance the quality of life of adults with physical disabilities. To achieve this, a robot can benefit from both visual and force sensing. The former enables the robot to ascertain human body pose…
Grounded haptic devices can provide a variety of forces but have limited working volumes. Wearable haptic devices operate over a large volume but are relatively restricted in the types of stimuli they can generate. We propose the concept of…
In this paper, we introduce Haptic-Informed ACT, an advanced robotic system for pseudo oocyte manipulation, integrating multimodal information and Action Chunking with Transformers (ACT). Traditional automation methods for oocyte transfer…
Recent advances in haptic hardware and software technology have generated interest in novel, multimodal interfaces based on the sense of touch. Such interfaces have the potential to revolutionize the way we think about human computer…
Robotic grippers are receiving increasing attention in various industries as essential components of robots for interacting and manipulating objects. While significant progress has been made in the past, conventional rigid grippers still…
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…
Soft robotic grippers demonstrate great potential for gently and safely handling objects; however, their full potential for executing precise and secure grasping has been limited by the lack of integrated sensors, leading to problems such…
Upper limb and hand functionality is critical to many activities of daily living and the amputation of one can lead to significant functionality loss for individuals. From this perspective, advanced prosthetic hands of the future are…
We present a tactile sensing method enabled by the mechanical compliance of soft robots; an externally attachable photoreflective module reads surface deformation of silicone skin to estimate contact force without embedding tactile…
In limbed robotics, end-effectors must serve dual functions, such as both feet for locomotion and grippers for grasping, which presents design challenges. This paper introduces a multi-modal end-effector capable of transitioning between…
This study presents a conceptual design of laparoscopic forceps whose grasping torque can be directly controlled by the user. By integrating an adjustable constant torque mechanism, the handle opening angle is converted to the grasping…
We describe a force-controlled robotic gripper with built-in tactile and 3D perception. We also describe a complete autonomous manipulation pipeline consisting of object detection, segmentation, point cloud processing, force-controlled…
Micro-scale continuum robots face significant limitations in achieving three-dimensional contact force perception, primarily due to structural miniaturization, nonlinear mechanical, and sensor integration. To overcome these limitations,…