Related papers: A Hybrid Model and Learning-Based Force Estimation…
Adaptive recovery from fall incidents are essential skills for the practical deployment of wheeled-legged robots, which uniquely combine the agility of legs with the speed of wheels for rapid recovery. However, traditional methods relying…
Laparoscopic surgery constrains instrument motion around a fixed pivot point at the incision into a patient to minimize tissue trauma. Surgical robots achieve this through either hardware to software-based remote center of motion (RCM)…
Robots which make use of soft or compliant inter- actions often leverage tendon-driven actuation which enables actuators to be placed more flexibly, and compliance to be maintained. However, controlling complex tendon systems is…
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…
Although robotic applications increasingly demand versatile and dynamic object handling, most existing techniques are predominantly focused on grasp-based manipulation, limiting their applicability in non-prehensile tasks. To address this…
Physical human-robot interaction has been an area of interest for decades. Collaborative tasks, such as joint compliance, demand high-quality joint torque sensing. While external torque sensors are reliable, they come with the drawbacks of…
This work demonstrates the benefits of using tool-tissue interaction forces in the design of autonomous systems in robot-assisted surgery (RAS). Autonomous systems in surgery must manipulate tissues of different stiffness levels and hence…
This research delves into the enhancement of control mechanisms for the da Vinci Surgical System, focusing on the implementation of gravity compensation and refining the modeling of the master and patient side manipulators. Leveraging the…
For Minimally Invasive Surgical (MIS) robots, accurate haptic interaction force feedback is essential for ensuring the safety of interacting with soft tissue. However, most existing MIS robotic systems cannot facilitate direct measurement…
Model-based reinforcement learning (MBRL) is recognized with the potential to be significantly more sample-efficient than model-free RL. How an accurate model can be developed automatically and efficiently from raw sensory inputs (such as…
Current methods for estimating force from tactile sensor signals are either inaccurate analytic models or task-specific learned models. In this paper, we explore learning a robust model that maps tactile sensor signals to force. We…
Pose estimation of a robot arm from visual inputs is a challenging task. However, with the increasing adoption of robot arms for both industrial and residential use cases, reliable joint angle estimation can offer improved safety and…
The presence of robots amongst pedestrians affects them causing deviation to their trajectories. Existing methods suffer from the limitation of not being able to objectively measure this deviation in unseen cases. In order to solve this…
With soft robotics being increasingly employed in settings demanding high and controlled contact forces, recent research has demonstrated the use of soft robots to estimate or intrinsically sense forces without requiring external sensing…
We develop a hybrid control approach for robot learning based on combining learned predictive models with experience-based state-action policy mappings to improve the learning capabilities of robotic systems. Predictive models provide an…
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…
Modeling of physical human-robot collaborations is generally a challenging problem due to the unpredictive nature of human behavior. To address this issue, we present a data-efficient reinforcement learning framework which enables a robot…
Contact detection for continuum and soft robots has been limited in past works to statics or kinematics-based methods with assumed circular bending curvature or known bending profiles. In this paper, we adapt the generalized momentum…
Robotic assembly tasks involve complex and low-clearance insertion trajectories with varying contact forces at different stages. While the nominal motion trajectory can be easily obtained from human demonstrations through kinesthetic…
Radioguided surgery, such as sentinel lymph node biopsy, relies on the precise localization of radioactive targets by non-imaging gamma/beta detectors. Manual radioactive target detection based on visual display or audible indication of…