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Minimally invasive procedures have been advanced rapidly by the robotic laparoscopic surgery. The latter greatly assists surgeons in sophisticated and precise operations with reduced invasiveness. Nevertheless, it is still safety critical…
For the shape control of deformable free-form surfaces, simulation plays a crucial role in establishing the mapping between the actuation parameters and the deformed shapes. The differentiation of this forward kinematic mapping is usually…
The emergence of real-time 3D ultrasound (US) makes it possible to consider image-based tracking of subcutaneous soft tissue targets for computer guided diagnosis and therapy. We propose a 3D transrectal US based tracking system for precise…
Event-based structured light systems have recently been introduced as an exciting alternative to conventional frame-based triangulation systems for the 3D measurements of diffuse surfaces. Important benefits include the fast capture speed…
Precise assessment of the mechanical properties of soft biological systems at the nanoscale is crucial for understanding physiology, pathology, and developing relevant drugs. Conventional atomic force microscopy (AFM)-based indentation…
Continuum dexterous manipulators (CDMs) are suitable for performing tasks in a constrained environment due to their high dexterity and maneuverability. Despite the inherent advantages of CDMs in minimally invasive surgery, real-time control…
Optical tactile sensors have recently become popular. They provide high spatial resolution, but struggle to offer fine temporal resolutions. To overcome this shortcoming, we study the idea of replacing the RGB camera with an event-based…
Tracking the full skeletal pose of the hands and fingers is a challenging problem that has a plethora of applications for user interaction. Existing techniques either require wearable hardware, add restrictions to user pose, or require…
Robotic grasping of 3D deformable objects (e.g., fruits/vegetables, internal organs, bottles/boxes) is critical for real-world applications such as food processing, robotic surgery, and household automation. However, developing grasp…
Neural shape models can represent complex 3D shapes with a compact latent space. When applied to dynamically deforming shapes such as the human hands, however, they would need to preserve temporal coherence of the deformation as well as the…
Camera-based tactile sensors provide robots with a high-performance tactile sensing approach for environment perception and dexterous manipulation. However, achieving comprehensive environmental perception still requires cooperation with…
One-shot face re-enactment is a challenging task due to the identity mismatch between source and driving faces. Specifically, the suboptimally disentangled identity information of driving subjects would inevitably interfere with the…
Tactile sensing allows robots to gather detailed geometric information about objects through physical interaction, complementing vision-based approaches. However, efficiently acquiring useful tactile data remains challenging due to the…
4D scans of dynamic deformable human body parts help researchers have a better understanding of spatiotemporal features. However, reconstructing 4D scans based on multiple asynchronous cameras encounters two main challenges: 1) finding the…
Precise 3D measurements of rigid surfaces are desired in many fields of application like quality control or surgery. Often, views from all around the object have to be acquired for a full 3D description of the object surface. We present a…
Wearable electronics are emerging as essential tools for health monitoring, haptic feedback, and human-computer interactions. While stable contact at the device-body interface is critical for these applications, it remains challenging due…
As 3D Gaussian Splatting (3DGS) gains popularity as a 3D representation of real scenes, enabling user-friendly deformation to create novel scenes while preserving fine details from the original 3DGS has attracted significant research…
Human limb motion tracking and recognition plays an important role in medical rehabilitation training, lower limb assistance, prosthetics design for amputees, feedback control for assistive robots, etc. Lightweight wearable sensors,…
This paper presents a magnet-based robotic skin that integrates a multilayer soft lattice with distributed Hall-effect sensor arrays and a tactile super-resolution model. External contact forces are converted to magnetic field changes by…
High speed, high-resolution, and accurate 3D scanning would open doors to many new applications in graphics, robotics, science, and medicine by enabling the accurate scanning of deformable objects during interactions. Past attempts to use…