Related papers: Optical Fiber-Based Needle Shape Sensing in Real T…
Perceiving accurate 3D object shape is important for robots to interact with the physical world. Current research along this direction has been primarily relying on visual observations. Vision, however useful, has inherent limitations due…
Opto-mechanical oscillators that generate coherent acoustic waves are drawing much interest, in both fundamental research and applications. Narrowband oscillations can be obtained through the introduction of feedback to the acoustic wave.…
This paper proposes a learning-based visual peg-in-hole that enables training with several shapes in simulation, and adapting to arbitrary unseen shapes in real world with minimal sim-to-real cost. The core idea is to decouple the…
Tactile perception is key to dexterous manipulation, yet simulating high-resolution elastomer deformation remains computationally prohibitive. Finite element methods (FEM) deliver high fidelity but demand costly remeshing, while Material…
Optical imaging is commonly used for both scientific and technological applications across industry and academia. In image sensing, a measurement, such as of an object's position, is performed by computational analysis of a digitized image.…
We develop a real-time state estimation system to recover the pose and contact formation of an object relative to its environment. In this paper, we focus on the application of inserting an object picked by a suction cup into a tight space,…
The transfer of mechanical signals through cells is a complex phenomenon. To uncover a new mechanotransduction pathway, we study the frequency-dependent transport of mechanical stimuli by single microtubules and small networks in a…
Goal: A limitation in robotic surgery is the lack of force feedback, due to challenges in suitable sensing techniques. To enhance the perception of the surgeons and precise force rendering, estimation of these forces along with tissue…
In this work, we report on a twin-core fiber sensor system that provides improved spectral efficiency, allows for multiplexing and gives low level of crosstalk. Pieces of the referred strongly coupled multicore fiber are used as sensors in…
Lensless imaging enables exceptionally compact fluorescence sensors, advancing applications in \textit{in vivo} imaging and low-cost, point-of-care diagnostics. These sensors require a filter to block the excitation light while passing…
Image transmission through multimode optical fibers has been an area of immense interests driven by the demand for miniature endoscopes in biomedicine and higher speed and capacity in telecommunications. Conventionally, a complex-valued…
A standard multimode optical fiber can be used as a general purpose spectrometer after calibrating the wavelength dependent speckle patterns produced by interference between the guided modes of the fiber. A transmission matrix was used to…
Suture needle localization is necessary for autonomous suturing. Previous approaches in autonomous suturing often relied on fiducial markers rather than markerless detection schemes for localizing a suture needle due to the inconsistency of…
As more robots are implemented for contact-rich tasks, tactile sensors are in increasing demand. For many circumstances, the contact is required to be compliant, and soft sensors are in need. This paper introduces a novelly designed soft…
Multi-spectral image stitching leverages the complementarity between infrared and visible images to generate a robust and reliable wide field-of-view (FOV) scene. The primary challenge of this task is to explore the relations between…
To achieve human-level dexterity, robots must infer spatial awareness from multimodal sensing to reason over contact interactions. During in-hand manipulation of novel objects, such spatial awareness involves estimating the object's pose…
This paper presents a shape-aware whole-body control framework for tendon-driven continuum robots with direct application to endoluminal surgical navigation. Endoluminal procedures, such as bronchoscopy, demand precise and safe navigation…
A strain-insensitive temperature sensor based on multimode interference using standard multimode fibers (MMFs) is proposed according to the comprehensive study of the characteristics of the MMFs. The temperature and strain dependences on…
Continuum Dexterous Manipulators (CDMs) are well-suited tools for minimally invasive surgery due to their inherent dexterity and reachability. Nonetheless, their flexible structure and non-linear curvature pose significant challenges for…
Wearable exoskeletons hold transformative promise for restoring mobility across diverse users with muscular weakness or other impairments. However, their translation beyond laboratory environments remains limited by sensing systems that…