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Data-driven approaches to tactile sensing aim to overcome the complexity of accurately modeling contact with soft materials. However, their widespread adoption is impaired by concerns about data efficiency and the capability to generalize…
Humans possess a remarkable ability to integrate auditory and visual information, enabling a deeper understanding of the surrounding environment. This early fusion of audio and visual cues, demonstrated through cognitive psychology and…
Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…
Purpose: In surgical navigation, pre-operative organ models are presented to surgeons during the intervention to help them in efficiently finding their target. In the case of soft tissue, these models need to be deformed and adapted to the…
Photoacoustic imaging systems offer a platform with high resolution to explore body tissues, food, and artwork. On the other hand, plasmonics constitutes a source of resonant heating and thermal expansion to generate acoustic waves.…
Acoustic radiation force and torque arising from wave scattering are commonly used to manipulate micro-objects without contact. We applied the partial wave expansion series and the conformal transformation approach to estimate the radiation…
Subretinal injection is a delicate vitreoretinal procedure requiring precise needle placement within the subretinal space while avoiding perforation of the retinal pigment epithelium (RPE), a layer directly beneath the target with extremely…
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…
Despite the undeniable advantages of image-guided surgical assistance systems in terms of accuracy, such systems have not yet fully met surgeons' needs or expectations regarding usability, time efficiency, and their integration into the…
Robotic palpation relies on force sensing, but force signals in soft-tissue environments are variable and cannot reliably reveal subtle subsurface features. We present a compact multimodal sensor that integrates high-resolution vision-based…
Percutaneous epicardial access (PEA), performed on a beating heart under fluoroscopy, enables arrhythmia treatment. However, advancing a needle toward the thin and moving pericardium remains highly challenging and risky. To address this…
Wearable assistive devices are increasingly becoming softer. Modelling their interface with human tissue is necessary to capture transmission of dynamic assistance. However, their nonlinear and compliant nature makes both physical modeling…
Ultrasound b-mode imaging is a qualitative approach and diagnostic quality strongly depends on operators' training and experience. Quantitative approaches can provide information about tissue properties; therefore, can be used for…
Ultrasound-based elasticity imaging is a non-invasive technique for estimating tissue stiffness fields from displacement fields obtained by comparing ultrasound signals before and after compression. While recent deep learning approaches…
Even simple tactile stimuli can lead to remarkably different perceptions among individuals, both in intensity and pleasantness. To understand the physical factors behind this variation, it is important to investigate how mechanical events…
Providing force feedback as relevant information in current Robot-Assisted Minimally Invasive Surgery systems constitutes a technological challenge due to the constraints imposed by the surgical environment. In this context, Sensorless…
Accurately estimating and simulating the physical properties of objects from real-world sound recordings is of great practical importance in the fields of vision, graphics, and robotics. However, the progress in these directions has been…
Despite renewed awareness of the importance of articulation, it remains a challenge for instructors to handle the pronunciation needs of language learners. There are relatively scarce pedagogical tools for pronunciation teaching and…
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…
Humans can robustly recognize and localize objects by using visual and/or auditory cues. While machines are able to do the same with visual data already, less work has been done with sounds. This work develops an approach for scene…