Related papers: Haptic-Assisted Collaborative Robot Framework for …
Most existing robotic surgery systems adopt a human-in-the-loop paradigm, often with the surgeon directly teleoperating the robotic system. Adding intelligence to these robots would enable higher-level control, such as supervised autonomy…
Robotic assistance for experimental manipulation in the life sciences is expected to enable favorable outcomes, regardless of the skill of the scientist. Experimental specimens in the life sciences are subject to individual variability and…
Social intelligence is an important requirement for enabling robots to collaborate with people. In particular, human path prediction is an essential capability for robots in that it prevents potential collision with a human and allows the…
Human-multi-robot shared control leverages human decision-making and robotic autonomy to enhance human-robot collaboration. While widely studied, existing systems often adopt a leader-follower model, limiting robot autonomy to some extent.…
Humans can leverage physical interaction to teach robot arms. As the human kinesthetically guides the robot through demonstrations, the robot learns the desired task. While prior works focus on how the robot learns, it is equally important…
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…
Shared-autonomy imitation learning lets a human correct a robot in real time, mitigating covariate-shift errors. Yet existing approaches ignore two critical factors: (i) the operator's cognitive load and (ii) the risk created by delayed or…
Communication and cooperation among team members can be enhanced significantly with physical interaction. Successful collaboration requires the integration of the individual partners' intentions into a shared action plan, which may involve…
Cooperative robots for intraocular surgery allow surgeons to perform vitreoretinal surgery with high precision and stability. Several robot structural designs have shown capabilities to perform these surgeries. This research investigates…
Robots often face manipulation tasks in environments where vision is inadequate due to clutter, occlusions, or poor lighting--for example, reaching a shutoff valve at the back of a sink cabinet or locating a light switch above a crowded…
This study presents the first evaluation of general-purpose imitation learning for surgeon-robot collaborative assistance in open surgery, targeting suture following: the grab-pull-release motion an assistant performs at every stitch. We…
In this paper, we introduce S3D: A Spatial Steerable Surgical Drilling Framework for Robotic Spinal Fixation Procedures. S3D is designed to enable realistic steerable drilling while accounting for the anatomical constraints associated with…
The use of robots in minimally invasive surgery has improved the quality of standard surgical procedures. So far, only the automation of simple surgical actions has been investigated by researchers, while the execution of structured tasks…
Tendon-driven robots, a type of continuum robot, have the potential to reduce the invasiveness of surgery by enabling access to difficult-to-reach anatomical targets. In the future, the automation of surgical tasks for these robots may help…
Human-guided robotic exploration is a useful approach to gathering information at remote locations, especially those that might be too risky, inhospitable, or inaccessible for humans. Maintaining common ground between the remotely-located…
Robot grasping of desktop object is widely used in intelligent manufacturing, logistics, and agriculture.Although vision-language models (VLMs) show strong potential for robotic manipulation, their deployment in low-level grasping faces key…
Our goal is to model and experimentally assess trust evolution to predict future beliefs and behaviors of human-robot teams in dynamic environments. Research suggests that maintaining trust among team members in a human-robot team is vital…
In robot-assisted minimally invasive surgery (RAMIS), optimal placement of the surgical robot base is crucial for successful surgery. Improper placement can hinder performance because of manipulator limitations and inaccessible workspaces.…
While shared autonomy offers significant potential for assistive robotics, key questions remain about how to effectively map 2D control inputs to 6D robot motions. An intuitive framework should allow users to input commands effortlessly,…
Planning under uncertainty is a crucial capability for autonomous systems to operate reliably in uncertain and dynamic environments. The concern of safety becomes even more critical in healthcare settings where robots interact with human…