Related papers: Simultaneous Estimation of Shape and Force along H…
Grasping compliant objects is difficult for robots - applying too little force may cause the grasp to fail, while too much force may lead to object damage. A robot needs to apply the right amount of force to quickly and confidently grasp…
Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…
Tissue deformation poses a key challenge for accurate surgical scene reconstruction. Despite yielding high reconstruction quality, existing methods suffer from slow rendering speeds and long training times, limiting their intraoperative…
Estimating the contact state between a grasped tool and the environment is essential for performing contact tasks such as assembly and object manipulation. Force signals are valuable for estimating the contact state, as they can be utilized…
We present PiMForce, a novel framework that enhances hand pressure estimation by leveraging 3D hand posture information to augment forearm surface electromyography (sEMG) signals. Our approach utilizes detailed spatial information from 3D…
Soft bodies made from flexible and deformable materials are popular in many robotics applications, but their proprioceptive sensing has been a long-standing challenge. In other words, there has hardly been a method to measure and model the…
Measuring grasp stability is an important skill for dexterous robot manipulation tasks, which can be inferred from haptic information with a tactile sensor. Control policies have to detect rotational displacement and slippage from tactile…
Fine dexterous manipulation requires reactive control based on rich sensing of manipulator-object interactions. Tactile sensing arrays provide rich contact information across the manipulator's surface. However their implementation faces two…
Shape estimation is fundamental for controlling continuously bending tensegrity manipulators, yet achieving it remains a challenge. Although using exteroceptive sensors makes the implementation straightforward, it is costly and limited to…
Granular gases are commonly characterized through their velocity distribution, which provides access to the granular temperature. In experiments, velocity distributions are typically obtained by particle tracking, which however becomes…
This paper presents a novel vision-based proprioception approach for a soft robotic finger that can estimate and reconstruct tactile interactions in both terrestrial and aquatic environments. The key to this system lies in the finger's…
This paper introduces a novel shape-sensing approach for Concentric Tube Steerable Drilling Robots (CT-SDRs) based on Optical Frequency Domain Reflectometry (OFDR). Unlike traditional FBG-based methods, OFDR enables continuous strain…
This article reviews contemporary methods for integrating force, including both proprioception and tactile sensing, in robot manipulation policy learning. We conduct a comparative analysis on various approaches for sensing force, data…
We propose a PDE-constrained shape registration algorithm that captures the deformation and growth of biological tissue from imaging data. Shape registration is the process of evaluating optimum alignment between pairs of geometries through…
Manipulating deformable linear objects (DLOs) such as wires and cables is crucial in various applications like electronics assembly and medical surgeries. However, it faces challenges due to DLOs' infinite degrees of freedom, complex…
Properly handling delicate produce with robotic manipulators is a major part of the future role of automation in agricultural harvesting and processing. Grasping with the correct amount of force is crucial in not only ensuring proper grip…
Purpose Surgical simulations play an increasingly important role in surgeon education and developing algorithms that enable robots to perform surgical subtasks. To model anatomy, Finite Element Method (FEM) simulations have been held as the…
Soft robots are inherently compliant and have a strong potential to realize human-friendly and safe robots. Despite continued research highlighting the potential of soft robots, they remain largely confined to laboratory settings. In this…
This paper presents a novel multi-axis force-sensing approach in robotic minimally invasive surgery with no modification to the surgical instrument. Thus, it is adaptable to different surgical instruments. A novel 6-axis optical force…
Manipulating deformable objects has long been a challenge in robotics due to its high dimensional state representation and complex dynamics. Recent success in deep reinforcement learning provides a promising direction for learning to…