Related papers: Image-to-Force Estimation for Soft Tissue Interact…
Soft bodies made from flexible and deformable materials are popular in many robotics applications, but their proprioceptive sensing has been a long-standing challenge. In other words, there has hardly been a method to measure and model the…
While visuomotor policy learning has advanced robotic manipulation, precisely executing contact-rich tasks remains challenging due to the limitations of vision in reasoning about physical interactions. To address this, recent work has…
To perform complex tasks, robots must be able to interact with and manipulate their surroundings. One of the key challenges in accomplishing this is robust state estimation during physical interactions, where the state involves not only the…
Microsurgery involves the dexterous manipulation of delicate tissue or fragile structures such as small blood vessels, nerves, etc., under a microscope. To address the limitation of imprecise manipulation of human hands, robotic systems…
This study presents an innovative computer vision framework designed to analyze human movements in industrial settings, aiming to enhance biomechanical analysis by integrating seamlessly with existing software. Through a combination of…
We study the problem of learning physical object representations for robot manipulation. Understanding object physics is critical for successful object manipulation, but also challenging because physical object properties can rarely be…
In image-assisted minimally invasive surgeries (MIS), understanding surgical scenes is vital for real-time feedback to surgeons, skill evaluation, and improving outcomes through collaborative human-robot procedures. Within this context, the…
Soft lubricated contacts exhibit complex interfacial behaviours governed by the coupled effects of multiscale surface roughness and non-linear fluid-solid interactions. Accurately capturing this interplay across thin-film flows is…
This paper introduces the methodology proposed by our group to model the biological soft tissues deformations and to couple these models with Computer-Assisted Surgical (CAS) applications. After designing CAS protocols that mainly focused…
Robotic disassembly involves contact-rich interactions in which successful manipulation depends not only on geometric alignment but also on force-dependent state transitions. While vision-based policies perform well in structured settings,…
Vision-based tactile sensors, through high-resolution optical measurements, can effectively perceive the geometric shape of objects and the force information during the contact process, thus helping robots acquire higher-dimensional tactile…
Advanced dexterous manipulation involving multiple simultaneous contacts across different surfaces, like pinching coins from ground or manipulating intertwined objects, remains challenging for robotic systems. Such tasks exceed the…
For soft continuum arms, visual servoing is a popular control strategy that relies on visual feedback to close the control loop. However, robust visual servoing is challenging as it requires reliable feature extraction from the image,…
Grasping compliant objects is difficult for robots - applying too little force may cause the grasp to fail, while too much force may lead to object damage. A robot needs to apply the right amount of force to quickly and confidently grasp…
Based on point spread function (PSF) engineering and astigmatism due to a pair of cylindrical lenses, a novel compressed imaging mechanism is proposed to achieve single-shot incoherent 3D imaging. The speckle-like PSF of the imaging system…
Robotic assistance has significantly improved the outcomes of open microsurgery and rigid endoscopic surgery, however is yet to make an impact in flexible endoscopic neurosurgery. Some of the most common intracranial procedures for…
There is a growing need for soft robotic platforms that perform gentle, precise handling of a wide variety of objects. Existing surface-based manipulation systems, however, lack the compliance and tactile feedback needed for delicate…
Tactile sensing plays an important role in robotic perception and manipulation tasks. To overcome the real-world limitations of data collection, simulating tactile response in a virtual environment comes as a desirable direction of robotic…
The deployment of complex soft robots in multiphysics environments requires advanced simulation frameworks that not only capture interactions between different types of material, but also translate accurately to real-world performance. Soft…
The importance of force perception in interacting with the environment was proven years ago. However, it is still a challenge to measure the contact force distribution accurately in real-time. In order to break through this predicament, we…