Related papers: Vision-Based Force Estimation for Minimally Invasi…
Force estimation in human-object interactions is crucial for various fields like ergonomics, physical therapy, and sports science. Traditional methods depend on specialized equipment such as force plates and sensors, which makes accurate…
Autonomy in robot-assisted minimally invasive surgery has the potential to reduce surgeon cognitive and task load, thereby increasing procedural efficiency. However, implementing accurate autonomous control can be difficult due to poor…
Grasping objects under uncertainty remains an open problem in robotics research. This uncertainty is often due to noisy or partial observations of the object pose or shape. To enable a robot to react appropriately to unforeseen effects, it…
Hardness is among the most important attributes of an object that humans learn about through touch. However, approaches for robots to estimate hardness are limited, due to the lack of information provided by current tactile sensors. In this…
To perform complex tasks, robots must be able to interact with and manipulate their surroundings. One of the key challenges in accomplishing this is robust state estimation during physical interactions, where the state involves not only the…
Regulating contact forces with high precision is crucial for grasping and manipulating fragile or deformable objects. We aim to utilize the dexterity of human hands to regulate the contact forces for robotic hands and exploit human…
Robust manipulation often hinges on a robot's ability to perceive extrinsic contacts-contacts between a grasped object and its surrounding environment. However, these contacts are difficult to observe through vision alone due to occlusions,…
Typical contact detection is based on the monitoring of a threshold value in the force and torque signals. The selection of a threshold is challenging for robots operating in unstructured or highly dynamic environments, such in a household…
Force-aware grasping is an essential capability for most robots in practical applications. Especially for compliant grippers, such as Fin-Ray grippers, it still remains challenging to build a bidirectional mathematical model that mutually…
Soft robotic fingers can improve adaptability in grasping and manipulation, compensating for geometric variation in object or environmental contact, but today lack force capacity and fine dexterity. Integrated tactile sensors can provide…
Precisely determining the contact force during safe interaction in Minimally Invasive Robotic Surgery (MIRS) is still an open research challenge. Inspired by post-operative qualitative analysis from surgical videos, the use of…
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…
We present ForceSight, a system for text-guided mobile manipulation that predicts visual-force goals using a deep neural network. Given a single RGBD image combined with a text prompt, ForceSight determines a target end-effector pose in the…
Planning contact interactions is one of the core challenges of many robotic tasks. Optimizing contact locations while taking dynamics into account is computationally costly and, in environments that are only partially observable, executing…
Embolization, stroke, ischaemic lesion, and perforation remain significant concerns in endovascular interventions. Intravascular sensing of tool interaction with the arteries is advantageous to minimize such complications and enhance…
In essence, successful grasp boils down to correct responses to multiple contact events between fingertips and objects. In most scenarios, tactile sensing is adequate to distinguish contact events. Due to the nature of high dimensionality…
This study addresses the challenge of low dexterity in teleoperation tasks caused by limited sensory feedback and visual occlusion. We propose a novel approach that integrates haptic feedback into teleoperation using the adaptive triggers…
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,…
Instrument-tissue interaction forces in Minimally Invasive Surgery (MIS) provide valuable information that can be used to provide haptic perception, monitor tissue trauma, develop training guidelines, and evaluate the skill level of novice…
Contact-rich manipulation demands human-like integration of perception and force feedback: vision should guide task progress, while high-frequency interaction control must stabilize contact under uncertainty. Existing learning-based…