Related papers: An FBG-based Stiffness Estimation Sensor for In-vi…
Medical applications of robots are increasingly popular to objectivise and speed up the execution of several types of diagnostic and therapeutic interventions. Particularly important is a class of diagnostic activities that require physical…
Accurate assessment of stiffness distribution is essential due to the critical role of single cell mechanobiology in the regulation of many vital cellular processes such as proliferation, adhesion, migration, and motility. Cell stiffness is…
Soft tissue elasticity is directly related to different stages of diseases and can be used for tissue identification during minimally invasive procedures. By palpating a tissue with a robot in a minimally invasive fashion force-displacement…
Experimentally measuring the elastic properties of thin biological surfaces is non-trivial, particularly when they are curved. One technique that may be used is the indentation of a thin sheet of material by a rigid indenter, whilst…
Optical fiber multi parameter sensing is fundamentally constrained by cross-sensitivity and the complexity of multi sensor integration. Here, we present a dual-dip heterogeneous long-period fiber grating (LPFG) sensing platform enabled by…
We address the challenge of reliable and accurate proprioception in soft robots, specifically those with tight packaging constraints and relying only on internally embedded sensors. While various sensing approaches with single sensors have…
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,…
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…
Calibration of optically trapped particles in-vivo has been complicated given the frequency dependence and spatial inhomogeneity of the cytoplasmic viscosity, and the requirement of accurate knowledge of the medium refractive index.…
We propose a novel tri-fingered soft robotic gripper with decoupled stiffness and shape control capability for performing adaptive grasping with minimum system complexity. The proposed soft fingers adaptively conform to object shapes…
The instability of myoelectric signals over time complicates their use to control highly articulated prostheses. To address this problem, studies have tried to combine surface electromyography with modalities that are less affected by the…
Rotational displacement about the grasping point is a common grasp failure when an object is grasped at a location away from its center of gravity. Tactile sensors with soft surfaces, such as GelSight sensors, can detect the rotation…
Head-based signals such as EEG, EMG, EOG, and ECG collected by wearable systems will play a pivotal role in clinical diagnosis, monitoring, and treatment of important brain disorder diseases. However, the real-time transmission of the…
Intraoperative observation of tissue internal structure is often difficult. Hence, real-time soft tissue deformation is essential for the localization of tumor and other internal structures. We propose a method to simulate the internal…
We propose a scheme for trapped atom interferometry using an interacting Bose-Einstein condensate. The condensate is controlled and spatially split in two confined external momentum modes through a series Bragg pulses. The proposed scheme…
Augmented Reality is used in Image Guided surgery (AR IG) to fuse surgical landmarks from preoperative images into a video overlay. Physical simulation is essential to maintaining accurate position of the landmarks as surgery progresses and…
Static and dynamic analysis of the fracture tests of fiber composites in hydraulically servo-controlled testing machines currently in use shows that their grips are much too soft and light for observing the postpeak softening. Based on…
The paper proposes accurate Blood Pressure Monitoring (BPM) based on a single-site Photoplethysmographic (PPG) sensor and provides an energy-efficient solution on edge cuffless wearable devices. Continuous PPG signal preprocessed and used…
A sensor-fused wearable assistance prototype for upper-limb function (triceps brachii and extensor pollicis brevis) is presented. The device integrates surface electromyography (sEMG), an inertial measurement unit (IMU), and flex/force…
Estimating 3D full-body pose from sparse sensor data is a pivotal technique employed for the reconstruction of realistic human motions in Augmented Reality and Virtual Reality. However, translating sparse sensor signals into comprehensive…