Related papers: SIMS: Surgeon-Intention-driven Motion Scaling for …
Robot-assisted minimally invasive surgery is improving surgeon performance and patient outcomes. This innovation is also turning what has been a subjective practice into motion sequences that can be precisely measured. A growing number of…
This paper provides a theoretical framework for understanding the performance of reconfigurable intelligent surface (RIS)-aided massive multiple-input multiple-output (MIMO) with zero-forcing (ZF) detectors under imperfect channel state…
We present a new approach for vision-based force estimation in Minimally Invasive Robotic Surgery based on frequency domain basis of motion of organs derived directly from video. Using internal movements generated by natural processes like…
Accurate human motion prediction (HMP) is critical for seamless human-robot collaboration, particularly in handover tasks that require real-time adaptability. Despite the high accuracy of state-of-the-art models, their computational…
Human motion prediction is a necessary component for many applications in robotics and autonomous driving. Recent methods propose using sequence-to-sequence deep learning models to tackle this problem. However, they do not focus on…
This paper explores the possibility of improving bilateral robot manipulation task performance through optimizing the robot morphology and configuration of the system through motion. To optimize the design for different scenarios, we select…
With the continuous advancement of robot teleoperation technology, shared control is used to reduce the physical and mental load of the operator in teleoperation system. This paper proposes an alternating shared control framework for object…
Modern sampling-based motion planning algorithms typically take between hundreds of milliseconds to dozens of seconds to find collision-free motions for high degree-of-freedom problems. This paper presents performance improvements of more…
In hazardous and remote environments, robotic systems perform critical tasks demanding improved safety and efficiency. Among these, quadruped robots with manipulator arms offer mobility and versatility for complex operations. However,…
Stacked intelligent metasurfaces (SIMs), which integrate multiple programmable metasurface layers, have recently emerged as a promising technology for advanced wave-domain signal processing. SIMs benefit from flexible spatial…
Traditional single-modality sensing faces limitations in accuracy and capability, and its decoupled implementation with communication systems increases latency in bandwidth-constrained environments. Additionally, single-task-oriented…
This study designs a high-precision bilateral teleoperation control for a dissimilar master-slave system. The proposed nonlinear control design takes advantage of a novel subsystem-dynamics-based control method that allows designing of…
Purpose Surgical simulations play an increasingly important role in surgeon education and developing algorithms that enable robots to perform surgical subtasks. To model anatomy, Finite Element Method (FEM) simulations have been held as the…
Retargeting human motion to robot poses is a practical approach for teleoperating bimanual humanoid robot arms, but existing methods can be suboptimal and slow, often causing undesirable motion or latency. This is due to optimizing to match…
The performance of transmission schemes is heavily influenced by the wireless channel, which is typically considered an uncontrollable factor. However, the introduction of reconfigurable intelligent surfaces (RISs) to wireless…
Multiple Sclerosis (MS) is a heterogeneous autoimmune-mediated disorder affecting the central nervous system, commonly manifesting as fatigue and progressive limb impairment. This can significantly impact quality of life due to weakness or…
Pixel-aligned implicit models, such as PIFu, PIFuHD, and ICON, are used for single-view clothed human reconstruction. These models need to be trained using a sampling training scheme. Existing sampling training schemes either fail to…
Despite the impressive results achieved by many existing Structure from Motion (SfM) approaches, there is still a need to improve the robustness, accuracy, and efficiency on large-scale scenes with many outlier matches and sparse view…
Industrial human-robot collaboration requires motion planning that is collision-free, responsive, and ergonomically safe to reduce fatigue and musculoskeletal risk. We propose the Configuration Space Ergonomic Field (CSEF), a continuous and…
Simulators are an important tool in robotics that is used to develop robot software and generate synthetic data for machine learning algorithms. Faster simulation can result in better software validation and larger amounts of data. Previous…