Related papers: Autonomous Robotic Tissue Palpation and Abnormalit…
The paper focuses on the stiffness modeling of heavy industrial robots with gravity compensators. The main attention is paid to the identification of geometrical and elastostatic parameters and calibration accuracy. To reduce impact of the…
Cardiac muscle tissue exhibits highly non-linear hyperelastic and orthotropic material behavior during passive deformation. Traditional constitutive identification protocols therefore combine multiple loading modes and typically require…
Mathematical models and numerical simulations offer a non-invasive way to explore cardiovascular phenomena, providing access to quantities that cannot be measured directly. In this study, we start with a one-dimensional multiscale blood…
We present a self-contained, soft robotic hand composed of soft pneumatic actuator modules that are equipped with strain and pressure sensing. We show how this data can be used to discern whether a grasp was successful. Co-locating sensing…
We study nonlinear dynamics of the Earth's tropical climate system. For that, we apply a recently developed technique for feature extraction and mode decomposition of spatiotemporal data generated by ergodic dynamical systems. The method…
This paper presents an elastic-viscoplastic (EVP) constitutive model in triaxial space and general stress space for isotropic clays. The EVP model is anchored in the bounding surface theory along with the mapping rule and adopts a critical…
A parametric adaptive greedy Latent Space Dynamics Identification (gLaSDI) framework is developed for accurate, efficient, and certified data-driven physics-informed greedy auto-encoder simulators of high-dimensional nonlinear dynamical…
The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the…
Imitation learning is a powerful paradigm for robot skill acquisition, yet conventional demonstration methods--such as kinesthetic teaching and teleoperation--are cumbersome, hardware-heavy, and disruptive to workflows. Recently, passive…
Exploration requires that robots reason about numerous ways to cover a space in response to dynamically changing conditions. However, in continuous domains there are potentially infinitely many options for robots to explore which can prove…
Palpation of human tissue during Minimally Invasive Surgery is hampered due to restricted access. In this extended abstract, we present a variable stiffness and dynamic force range sensor that has the potential to address this challenge.…
Autonomous robots are increasingly deployed for long-term information-gathering tasks, which pose two key challenges: planning informative trajectories in environments that evolve across space and time, and ensuring persistent operation…
In this paper we develop a surgical system using the da Vinci research kit (dVRK) that is capable of autonomously searching for tumors and dynamically displaying the tumor location using augmented reality. Such a system has the potential to…
Characterizing the softness of deformable materials having partial elastic and partial viscous behaviour via soft lubrication experiments has emerged as a versatile and robust methodology in recent times. However, a straightforward…
In this paper, to collectively address the existing limitations on endoscopic diagnosis of Advanced Gastric Cancer (AGC) Tumors, for the first time, we propose (i) utilization and evaluation of our recently developed Vision-based Tactile…
To meet the demands for more adaptable and expedient approaches to augment both research and manufacturing, we report an autonomous system using real-time in-situ characterization and an autonomous, decision-making processer based on an…
Accurately estimating the position of a patient's side robotic arm in real time during remote surgery is a significant challenge, especially within Tactile Internet (TI) environments. This paper presents a new and efficient method for…
Goal: A limitation in robotic surgery is the lack of force feedback, due to challenges in suitable sensing techniques. To enhance the perception of the surgeons and precise force rendering, estimation of these forces along with tissue…
Ergodic coverage effectively generates exploratory behaviors for embodied agents by aligning the spatial distribution of the agent's trajectory with a target distribution, where the difference between these two distributions is measured by…
This article describes a novel quasi-real time system for quantitative and volumetric measurement of tissue elasticity in the prostate. Tissue elasticity is computed by using a local frequency estimator to measure the three dimensional…