Related papers: Autonomous Robotic Tissue Palpation and Abnormalit…
Generating realistic clothing for virtual applications like online retail and digital avatars is crucial but requires expert knowledge of 3D tools to generating believable simulations. Recently, a number of works proposed to estimate cloth…
Passive elastic elements can contribute to stability, energetic efficiency, and impact absorption in both biological and robotic systems. They also add dynamical complexity which makes them more challenging to model and control. The impact…
The field of physical human-robot interaction has dramatically evolved in the last decades. As a result, the robotic system's requirements have become more challenging, including personalized behavior for different tasks and users. Various…
Tissue deformation recovery based on stereo endoscopic images is crucial for tool-tissue interaction analysis and benefits surgical navigation and autonomous soft tissue manipulation. Previous research suffers from the problems raised from…
Natural muscles provide mobility in response to nerve impulses. Electromyography (EMG) measures the electrical activity of muscles in response to a nerve's stimulation. In the past few decades, EMG signals have been used extensively in the…
Accurate extrinsic sensor calibration is essential for both autonomous vehicles and robots. Traditionally this is an involved process requiring calibration targets, known fiducial markers and is generally performed in a lab. Moreover, even…
This work presents a framework for automatically extracting physical object properties, such as material composition, mass, volume, and stiffness, through robot manipulation and a database of object measurements. The framework involves…
The concept of topological sensitivity (TS) is extended to enable simultaneous 3D reconstruction of fractures with unknown boundary condition and characterization of their interface by way of elastic waves. Interactions between the two…
Robot-assisted surgery has advantages compared to conventional laparoscopic procedures, e.g., precise movement of the surgical instruments, improved dexterity, and high-resolution visualization of the surgical field. However, mechanical…
Traditional LiDAR odometry (LO) systems mainly leverage geometric information obtained from the traversed surroundings to register laser scans and estimate LiDAR ego-motion, while it may be unreliable in dynamic or unstructured…
Accelerated discovery in materials science demands autonomous systems capable of dynamically formulating and solving design problems. In this work, we introduce a novel framework that leverages Bayesian optimization over a problem…
Assistive robots for healthcare have seen a growing demand due to the great potential of relieving medical practitioners from routine jobs. In this paper, we investigate the development of an optimization-based control framework for an…
Although a number of solutions exist for the problems of coverage, search and target localization---commonly addressed separately---whether there exists a unified strategy that addresses these objectives in a coherent manner without being…
Robots have the potential to perform search for a variety of applications under different scenarios. Our work is motivated by humanitarian assistant and disaster relief (HADR) where often it is critical to find signs of life in the presence…
In vivo measurement of the mechanical properties of thin-walled soft tissues (e.g., mitral valve, artery and bladder) and in situ mechanical characterization of thin-walled artificial soft biomaterials in service are of great challenge and…
This paper proposes a novel, more computationally efficient method for optimizing robot excitation trajectories for dynamic parameter identification, emphasizing self-collision avoidance. This addresses the system identification challenges…
This paper presents a formulation for swarm control and high-level task planning that is dynamically responsive to user commands and adaptable to environmental changes. We design an end-to-end pipeline from a tactile tablet interface for…
Electron ptychography provides new opportunities to resolve atomic structures with deep sub-angstrom spatial resolution and studying electron-beam sensitive materials with high dose efficiency. In practice, obtaining accurate ptychography…
Our understanding of the elasticity and rheology of disordered materials, such as granular piles, foams, emulsions or dense suspensions relies on improving experimental tools to characterize their behaviour at the particle scale. While 2D…
Preoperative gestures include tactile sampling of the mechanical properties of biological tissue for both histological and pathological considerations. Tactile properties used in conjunction with visual cues can provide useful feedback to…