Related papers: A Neural Network-based Framework for Fast and Smoo…
In minimal invasive surgery, it is important to rebuild and visualize the latest deformed shape of soft-tissue surfaces to mitigate tissue damages. This paper proposes an innovative Simultaneous Localization and Mapping (SLAM) algorithm for…
Reconstruction of the soft tissues in robotic surgery from endoscopic stereo videos is important for many applications such as intra-operative navigation and image-guided robotic surgery automation. Previous works on this task mainly rely…
The ability to accurately reconstruct the 3D facets of a scene is one of the key problems in robotic vision. However, even with recent advances with machine learning, there is no high-fidelity universal 3D reconstruction method for this…
This paper deals with the highly challenging problem of reconstructing the shape of a refracting object from a single image of its resulting caustic. Due to the ubiquity of transparent refracting objects in everyday life, reconstruction of…
Indirect image registration is a promising technique to improve image reconstruction quality by providing a shape prior for the reconstruction task. In this paper, we propose a novel hybrid method that seeks to reconstruct high quality…
The goal of this paper is to present a non-iterative and more importantly an extremely fast algorithm to reconstruct images from compressively sensed (CS) random measurements. To this end, we propose a novel convolutional neural network…
Efficient representation of articulated objects such as human bodies is an important problem in computer vision and graphics. To efficiently simulate deformation, existing approaches represent 3D objects using polygonal meshes and deform…
Hand pose estimation is more challenging than body pose estimation due to severe articulation, self-occlusion and high dexterity of the hand. Current approaches often rely on a popular body pose algorithm, such as the Convolutional Pose…
This paper introduces a novel design method that enhances the force/torque, bendability, and controllability of soft pneumatic actuators (SPAs). The complex structure of the soft actuator is simplified by approximating it as a cantilever…
We develop an automated computational modeling framework for rapid gradient-based design of multistable soft mechanical structures composed of non-identical bistable unit cells with appropriate geometric parameterization. This framework…
Due to their inherent compliance, soft robots are more versatile than rigid linked robots when they interact with their environment, such as object manipulation or biomimetic motion, and considered the key element in introducing robots to…
We introduce a neural network approach for generating and customizing the trajectory of a robotic arm, that guarantees precision and repeatability. To highlight the potential of this novel method, we describe the design and implementation…
Soft robots have become increasingly popular for complex manipulation tasks requiring gentle and safe contact. However, their softness makes accurate control challenging, and high-fidelity sensing is a prerequisite to adequate control…
Proprioception is the "sixth sense" that detects limb postures with motor neurons. It requires a natural integration between the musculoskeletal systems and sensory receptors, which is challenging among modern robots that aim for…
Accurately modeling soft robots in simulation is computationally expensive and commonly falls short of representing the real world. This well-known discrepancy, known as the sim-to-real gap, can have several causes, such as coarsely…
Soft tissue simulation in virtual environments is becoming increasingly important for medical applications. However, the high deformability of soft tissue poses significant challenges. Existing methods rely on segmentation, meshing and…
Supernumerary robotic limbs (SLs) have the potential to transform a wide range of human activities, yet their usability remains limited by key technical challenges, particularly in ensuring safety and achieving versatile control. Here, we…
Sleep posture is linked to several health conditions such as nocturnal cramps and more serious musculoskeletal issues. However, in-clinic sleep assessments are often limited to vital signs (e.g. brain waves). Wearable sensors with embedded…
The octopus arm is a neuromechanical system that involves a complex interplay between peripheral nervous system (PNS) and arm musculature. This makes the arm capable of carrying out rich maneuvers. In this paper, we build a model for the…
This paper presents a novel soft robotic system for a deformable mannequin that can be employed to physically realize the 3D geometry of different human bodies. The soft membrane on a mannequin is deformed by inflating several curved…