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Surgical image segmentation is essential for robot-assisted surgery and intraoperative guidance. However, existing methods are constrained to predefined categories, produce one-shot predictions without adaptive refinement, and lack…
In this paper, a novel approach is proposed for learning robot control in contact-rich tasks such as wiping, by developing Diffusion Contact Model (DCM). Previous methods of learning such tasks relied on impedance control with time-varying…
This paper proposes a novel non-orthogonal multiple access (NOMA)-assisted orthogonal time-frequency space (OTFS)-integrated sensing and communication (ISAC) network, which uses unmanned aerial vehicles (UAVs) as air base stations to…
In this work, we present a multimodal system for active robot-object interaction using laser-based SLAM, RGBD images, and contact sensors. In the object manipulation task, the robot adjusts its initial pose with respect to obstacles and…
We investigate grasping of rigid objects in unilateral robot-assisted minimally invasive surgery (RAMIS) in this paper. We define a human-centered transparency that quantifies natural action and perception in RAMIS. We demonstrate this…
Vision-based haptic sensors have emerged as a promising approach to robotic touch due to affordable high-resolution cameras and successful computer-vision techniques. However, their physical design and the information they provide do not…
Nonorthogonal multiple access (NOMA) with multi-antenna base station (BS) is a promising technology for next-generation wireless communication, which has high potential in performance and user fairness. Since the performance of NOMA depends…
Non-orthogonal multiple access (NOMA) scheme enables serving users with the same resource block i.e. frequency or time by multiplexing the signal of the users. Intelligent reflecting surfaces (IRS) or reconfigurable intelligent surfaces…
Rehabilitation robotics continues to confront substantial challenges, particularly in achieving smooth, safe, and intuitive human-robot interactions for upper limb motor training. Many current systems depend on complex mechanical designs,…
Minimally invasive surgery (MIS) offers several advantages including minimum tissue injury and blood loss, and quick recovery time, however, it imposes some limitations on surgeons ability. Among others such as lack of tactile or haptic…
Robotic-assisted medical systems (RAMS) have gained significant attention for their advantages in alleviating surgeons' fatigue and improving patients' outcomes. These systems comprise a range of human-computer interactions, including…
Task failures in prior fine-grained robotic manipulation methods often stem from suboptimal initial grasping, which is critical for subsequent manipulation and reducing the requirement for complex pose adjustments. To address this, we…
This paper proposes a novel simultaneously transmitting and reflecting reconfigurable intelligent surface (STAR-RIS) assisted unmanned aerial vehicle (UAV) non-orthogonal multiple access (NOMA) emergency communication network. Multiple…
Reconfigurable intelligent surface (RIS)-aided rate-splitting multiple access (RSMA) systems have demonstrated remarkable potential in enhancing spectral efficiency. However, most existing works rely on ideal hardware, which is…
Reconfigurable intelligent surface (RIS) technique stands as a promising signal enhancement or signal cancellation technique for next generation networks. We design a novel passive beamforming weight at RISs in a multiple-input…
Accurate prediction of aerodynamic forces in real-time is crucial for autonomous navigation of unmanned aerial vehicles (UAVs). This paper presents a data-driven aerodynamic force prediction model based on a small number of pressure sensors…
In this paper, we propose a real-time adaptive prediction method to calculate smooth and accurate haptic feedback in complex scenarios. Smooth haptic feedback is an important task for haptic rendering with complex virtual objects. However,…
Stiffness variation and real-time position feedback are critical for any robotic system but most importantly for active and wearable devices to interact with the user and environment. Currently, for compact sizes, there is a lack of…
In laparoscopic robot-assisted minimally invasive surgery, the kinematic control of the robot is subject to the remote center of motion (RCM) constraint at the port of entry (e.g., trocar) into the patient's body. During surgery, after the…
Designing intuitive interfaces for robotic control remains a central challenge in enabling effective human-robot interaction, particularly in assistive care settings. Eye gaze offers a fast, non-intrusive, and intent-rich input modality,…