Related papers: An innovative mixed reality approach for Robotics …
Designing a robotic system that functions effectively within the specific environment of a Magnetic Resonance Imaging (MRI) scanner requires solving numerous technical issues, such as maintaining the robot's precision and stability under…
This paper presents a novel concept to support physically impaired humans in daily object manipulation tasks with a robot. Given a user's manipulation sequence, we propose a predictive model that uniquely casts the user's sequential…
In surgical navigation, finding correspondence between preoperative plan and intraoperative anatomy, the so-called registration task, is imperative. One promising approach is to intraoperatively digitize anatomy and register it with the…
This paper presents a novel layered framework that integrates visual foundation models to improve robot manipulation tasks and motion planning. The framework consists of five layers: Perception, Cognition, Planning, Execution, and Learning.…
Achieving 3D spatial awareness is crucial for surgical robotic manipulation, where precise and delicate operations are required. Existing methods either explicitly reconstruct the surgical scene prior to manipulation, or enhance multi-view…
Human-robot collaboration frequently requires extensive communication, e.g., using natural language and gestures. Augmented reality (AR) has provided an alternative way of bridging the communication gap between robots and people. However,…
Transparent object perception is a rapidly developing research problem in artificial intelligence. The ability to perceive transparent objects enables robots to achieve higher levels of autonomy, unlocking new applications in various…
Robotic systems are increasingly used in rehabilitation to provide high intensity training for patients with motor impairment. The results of controlled trials involving human subjects confirm the effectiveness of robot-enhanced methods and…
Neurorehabilitation conventionally relies on the interaction between a patient and a physical therapist. Robotic systems can improve and enrich the physical feedback provided to patients after neurological injury, but they under-utilize the…
An effective human-robot collaborative process results in the reduction of the operator's workload, promoting a more efficient, productive, safer and less error-prone working environment. However, the implementation of collaborative robots…
Objective: Probe-based confocal endomicroscopy is an emerging high-magnification optical imaging technique that provides in vivo and in situ cellular-level imaging for real-time assessment of tissue pathology. Endomicroscopy could…
Robot Imitation Learning (IL) is a widely used method for training robots to perform manipulation tasks that involve mimicking human demonstrations to acquire skills. However, its practicality has been limited due to its requirement that…
Ambiguity and noise in natural language instructions create a significant barrier towards adopting autonomous systems into safety critical workflows involving humans and machines. In this paper, we propose to build on recent advances in…
With continual advancements in technology, efforts to develop robots simulating human behavior have intensified. Cognitive robotics, combined with artificial intelligence (AI), has proven effective in surveying and research analysis.…
Robot-assisted dressing has the potential to significantly improve the lives of individuals with mobility impairments. To ensure an effective and comfortable dressing experience, the robot must be able to handle challenging deformable…
Alignment between real and virtual objects is a challenging task required for the deployment of Mixed Reality (MR) into manufacturing, medical, and construction applications. To face this challenge, a series of methods have been proposed.…
Efficient motion intent communication is necessary for safe and collaborative work environments with collocated humans and robots. Humans efficiently communicate their motion intent to other humans through gestures, gaze, and social cues.…
Mixed Reality (MR) is constantly evolving to inspire new patterns of robot manipulation for more advanced Human- Robot Interaction under the 4th Industrial Revolution Paradigm. Consider that Mixed Reality aims to connect physical and…
Recent advances in robotic learning in simulation have shown impressive results in accelerating learning complex manipulation skills. However, the sim-to-real gap, caused by discrepancies between simulation and reality, poses significant…
X-ray vision, a technique that allows users to see through walls and other obstacles, is a popular technique for Augmented Reality (AR) and Mixed Reality (MR). In this paper, we demonstrate a dynamic X-ray vision window that is rendered in…