相关论文: A cable-driven parallel manipulator with force sen…
This paper presents the SP-Diff parallel gripper system, addressing the limited adaptability of conventional end-effectors in intelligent industrial automation. The proposed design employs an innovative differential linkage mechanism with a…
Existing research that addressed cable manipulation relied on two-fingered grippers, which make it difficult to perform similar cable manipulation tasks that humans perform. However, unlike dexterous manipulation of rigid objects, the…
This paper presents a novel cross-modal visuo-tactile perception framework for the 3D shape reconstruction of deformable linear objects (DLOs), with a specific focus on cables subject to severe visual occlusions. Unlike existing methods…
The CYCLOPS is a cable-driven parallel mechanism used for minimally invasive applications, with the ability to be customised to different surgical needs; allowing it to be made procedure- and patient-specific. For adequate optimisation,…
Effectively continuous control over propagation of a beam of light requires light modulation with pixelation that is smaller than the optical wavelength. Here we propose a spatial intensity modulator with sub-wavelength resolution in one…
Robotic surgery represents a major breakthrough in medical interventions, which has revolutionized surgical procedures. However, the high cost and limited accessibility of robotic surgery systems pose significant challenges for training…
The diagnostic value of biopsies is highly dependent on the placement of needles. Robotic trajectory guidance has been shown to improve needle positioning, but feedback for real-time navigation is limited. Haptic display of needle tip…
We describe the hardware design, force-rendering approach, and evaluation of a new reconfigurable haptic interface consisting of a network of hybrid motor-brake actuation modules that apply forces via cables. Each module contains both a…
We want to enable fine manipulation with a multi-fingered robotic hand by using modern deep reinforcement learning methods. Key for fine manipulation is a spatially resolved tactile sensor. Here, we present a novel model of a tactile skin…
The purpose of this study is to construct a contact point estimation system for the both side of a finger, and to realize a motion of bending the finger after inserting the finger into a tool (hereinafter referred to as the bending after…
Casimir forces between conductors at the sub-micron scale cannot be ignored in the design and operation of micro-electromechanical (MEM) devices. However, these forces depend non-trivially on geometry, and existing formulae and…
Soft optical tactile sensors enable robots to manipulate deformable objects by capturing important features such as high-resolution contact geometry and estimations of object compliance. This work presents a variable stiffness soft tactile…
Robotic cutting of soft materials is critical for applications such as food processing, household automation, and surgical manipulation. As in other areas of robotics, simulators can facilitate controller verification, policy learning, and…
Surface electromyography is a valid tool to gather muscular contraction signals from intact and amputated subjects. Electromyographic signals can be used to control prosthetic devices in a noninvasive way distinguishing the movements…
In the field of architecture, early detection of damage or degradation of building facades has become increasingly vital due to the need for continuous monitoring of structural integrity. Traditional methods, such as visual inspections, are…
This work considers a large class of systems composed of multiple quadrotors manipulating deformable and extensible cables. The cable is described via a discretized representation, which decomposes it into linear springs interconnected…
This paper presents a new design of CADEL, a cable-driven elbow-assisting device, with light weighting and control improvements. The new device design is appropriate to be more portable and user-oriented solution, presenting additional…
Traditional rigid endoscopes have challenges in flexibly treating tumors located deep in the brain, and low operability and fixed viewing angles limit its development. This study introduces a novel dual-segment flexible robotic endoscope…
In robotic hand research, minimizing the number of actuators while maintaining human-hand-consistent dimensions and degrees of freedom constitutes a fundamental challenge. Drawing bio-inspiration from human hand kinematic configurations and…
Future operating theatres will be equipped with robots to perform various surgical tasks including, for example, endoscope control. Human-in-the-loop supervisory control architectures where the surgeon selects from several autonomous…