Related papers: Image-to-Force Estimation for Soft Tissue Interact…
Soft robotic grippers facilitate contact-rich manipulation, including robust grasping of varied objects. Yet the beneficial compliance of a soft gripper also results in significant deformation that can make precision manipulation…
Accurate deformable object manipulation (DOM) is essential for achieving autonomy in robotic surgery, where soft tissues are being displaced, stretched, and dissected. Many DOM methods can be powered by simulation, which ensures realistic…
In robotic surgery, pattern cutting through a deformable material is a challenging research field. The cutting procedure requires a robot to concurrently manipulate a scissor and a gripper to cut through a predefined contour trajectory on…
The mechanical properties of human soft tissue are crucial for impact biomechanics, rehabilitation engineering and surgical simulation. Validation of these constitutive models using human data remains challenging and often requires the use…
Tactile sensing represents a crucial technique that can enhance the performance of robotic manipulators in various tasks. This work presents a novel bioinspired neuromorphic vision-based tactile sensor that uses an event-based camera to…
We present a computational framework for simulating filaments interacting with rigid bodies through contact. Filaments are challenging to simulate due to their codimensionality, i.e., they are one-dimensional structures embedded in…
Measurement of environment interaction forces during robotic minimally-invasive surgery would enable haptic feedback to the surgeon, thereby solving one long-standing limitation. Estimating this force from existing sensor data avoids the…
Virtual models are important for training and teaching tools used in medical imaging research. We introduce a workflow that can be used to convert volumetric medical imaging data (as generated by Computer Tomography (CT)) to computer-based…
This paper describes a system for transmitting softness and the motion of shape or contact area sensation using a vision based tactile sensor and a tactile display in which mechanical and electrical stimulation are combined. A unit of…
This paper presents a novel fabric-based thermal-haptic interface for virtual reality and teleoperation. It integrates pneumatic actuation and conductive fabric with an innovative ultra-lightweight design, achieving only 2~g for each finger…
Vision-based tactile sensors typically utilize a deformable elastomer and a camera mounted above to provide high-resolution image observations of contacts. Obtaining accurate volumetric meshes for the deformed elastomer can provide direct…
In this paper, we present a touch technology to achieve tactile interactivity for human-robot interaction (HRI) in soft robotics. By combining a capacitive touch sensor with an online solid mechanics simulation provided by the SOFA…
Few-shot medical image segmentation (FSMIS) aims to perform the limited annotated data learning in the medical image analysis scope. Despite the progress has been achieved, current FSMIS models are all trained and deployed on the same data…
Perceptualizing tool interactions with deformable structures in surgical procedures remains challenging, as unimodal visualization techniques often fail to capture the complexity of these interactions due to constraints such as occlusion…
Accurate and efficient modeling of soft-tissue interactions is fundamental for advancing surgical simulation, surgical robotics, and model-based surgical automation. To achieve real-time latency, classical Finite Element Method (FEM)…
We address the problem of devising the means for a robot to rapidly and safely learn insertion skills with just a few human interventions and without hand-crafted rewards or demonstrations. Our InsertionNet version 2.0 provides an improved…
Robotic manipulation of deformable and fragile objects presents significant challenges, as excessive stress can lead to irreversible damage to the object. While existing solutions rely on accurate object models or specialized sensors and…
This paper presents a neuromorphic, event-driven tactile sensing system for soft, large-area skin, based on the Dynamic Vision Sensors (DVS) integrated with a flexible silicone optical waveguide skin. Instead of repetitively scanning…
An approach to the mechanical behaviour of textile composites at the scale of their constituting fibres, using an implicit finite element simulation code, is proposed in this chapter. The approach is based on efficient methods and…
A major source of endoscopic tissue tracking errors during deformations stems from wrong data association between observed sensor measurements with previously tracked scene. To mitigate this issue, we present a surgical perception…