Related papers: A Calibration Approach for Elasticity Estimation w…
We present and analyze methods for the kinematic and kinetostatic calibration of, typically, wrist mounted force/torque sensors in robotics. The algorithms are based on matrix factorization and require no special equipment. The only…
Various robots have been developed so far; however, we face challenges in modeling the low-rigidity bodies of some robots. In particular, the deflection of the body changes during tool-use due to object grasping, resulting in significant…
The development of algorithms for automation of subtasks during robotic surgery can be accelerated by the availability of realistic simulation environments. In this work, we focus on one aspect of the realism of a surgical simulator, which…
In surgery, the application of appropriate force levels is critical for the success and safety of a given procedure. While many studies are focused on measuring in situ forces, little attention has been devoted to relating these observed…
Distributed sensor arrays capable of detecting multiple spatially distributed stimuli are considered an important element in the realisation of exteroceptive and proprioceptive soft robots. This paper expands upon the previously presented…
Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
Surgical automation can improve the accessibility and consistency of life saving procedures. Most surgeries require separating layers of tissue to access the surgical site, and suturing to reattach incisions. These tasks involve deformable…
Soft tissue manipulation is an integral aspect of most surgical procedures; however, the vast majority of surgical graspers used today are made of hard materials, such as metals or hard plastics. Furthermore, these graspers predominately…
Elasticity is a fundamental cellular property that is related to the anatomy, functionality and pathological state of cells and tissues. However, current techniques based on cell deformation, atomic force microscopy or Brillouin scattering…
Electroporation is a complex, iterative, and nonlinear phenomenon that is often studied by numerical simulations. In recent years, tissue electroporation simulations have been performed using static models. However, the results of a static…
Soft robots are well suited for contact-rich tasks due to their compliance, yet this property makes accurate and tractable modeling challenging. Planning motions with dynamically-feasible trajectories requires models that capture arbitrary…
Calibration of fixtures in robotic work cells is essential but also time consuming and error-prone, and poor calibration can easily lead to wasted debugging time in downstream tasks. Contact-based calibration methods let the user measure…
For elastomer-based tactile sensors, represented by visuotactile sensors, routine calibration of mechanical parameters (Young's modulus and Poisson's ratio) has been shown to be important for force reconstruction. However, the reliance on…
Tactile sensing has become a popular sensing modality for robot manipulators, due to the promise of providing robots with the ability to measure the rich contact information that gets transmitted through its sense of touch. Among the…
Teleoperation of robotic systems for precise and delicate object grasping requires high-fidelity haptic feedback to obtain comprehensive real-time information about the grasp. In such cases, the most common approach is to use kinesthetic…
A methodology is presented for estimating average values for the temperature and the frictional traction over a tool-workpiece interface using measured values of force and torque applied to the tool. The approach was developed specifically…
Ensuring the safe and reliable operation of collaborative robots demands robust sensor diagnostics. This paper introduces a methodology for formulating model-based constraints tailored for sensor diagnostics, featuring analytical…
This paper presents an approach for understanding the soft tissue behavior in surface contact with a probe scanning the tissue. The application domain is confocal microlaparoscopy, mostly used for imaging the outer surface of the organs in…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…