相关论文: Design and implementation of a wireless instrument…
Ultrasound computed tomography techniques have the potential to provide clinicians with 3D, quantitative and high-resolution information of both soft and hard tissues such as the breast or the adult human brain. Their practical application…
Localization using a single range anchor combined with onboard optical-inertial odometry offers a lightweight solution that provides multidimensional measurements for the positioning of unmanned aerial vehicles. Unfortunately, the…
Positron Emission Tomography (PET) enables functional imaging of deep brain structures, but the bulk and weight of current systems preclude their use during many natural human activities, such as locomotion. The proposed long-term solution…
WiFi-based pose estimation is a technology with great potential for the development of smart homes and metaverse avatar generation. However, current WiFi-based pose estimation methods are predominantly evaluated under controlled laboratory…
This paper presents an indoor pose estimation system for micro aerial vehicles (MAVs) with a single WiFi access point. Conventional approaches based on computer vision are limited by illumination conditions and environmental texture. Our…
We present the design, implementation, and experimental evaluation of a low-cost, customizable, easy-to-use transradial hand prosthesis capable of adapting its compliance. Variable stiffness actuation (VSA) of the prosthesis is based on…
This paper presents MEMROC (Multi-Eye to Mobile RObot Calibration), a novel motion-based calibration method that simplifies the process of accurately calibrating multiple cameras relative to a mobile robot's reference frame. MEMROC utilizes…
Robotic surfaces traditionally use materials with a positive Poisson's ratio to push and pull on a manipulation interface. Auxetic materials with a negative Poisson's ratio may expand in multiple directions when stretched and enable…
Robotic sensorimotor extensions (supernumerary limbs, prosthesis, handheld tools) are worn devices used to interact with the nearby environment, whether to assist the capabilities of impaired users or to enhance the dexterity of industrial…
Precision matrix is of significant importance in a wide range of applications in multivariate analysis. This paper considers adaptive minimax estimation of sparse precision matrices in the high dimensional setting. Optimal rates of…
Small catheters undergo significant torsional deflections during endovascular interventions. A key challenge in enabling robot control of these catheters is the estimation of their bending planes. This paper considers approaches for…
This study addresses contact-rich object insertion tasks under unstructured environments using a robot with a soft wrist, enabling safe contact interactions. For the unstructured environments, we assume that there are uncertainties in…
This paper introduces a constructive method for approximating relative continuum measurements in two-dimensional electrical impedance tomography based on data originating from either the point electrode model or the complete electrode…
Camera-to-robot calibration is crucial for vision-based robot control and requires effort to make it accurate. Recent advancements in markerless pose estimation methods have eliminated the need for time-consuming physical setups for…
Brain-machine interfaces (BMIs) have emerged as a transformative force in assistive technologies, empowering individuals with motor impairments by enabling device control and facilitating functional recovery. However, the persistent…
We study the problem of estimating the average treatment effect (ATE) in adaptive experiments where treatment can only be encouraged -- rather than directly assigned -- via a binary instrumental variable. Building on semiparametric…
The design of high-precision sensing devises becomes ever more difficult and expensive. At the same time, the need for precise calibration of these devices (ranging from tiny sensors to space telescopes) manifests itself as a major…
Imitation learning is a promising approach to help robots acquire dexterous manipulation capabilities without the need for a carefully-designed reward or a significant computational effort. However, existing imitation learning approaches…
We developed a 3D end-effector type of upper limb assistive robot, named as Assistive Robotic Arm Extender (ARAE), that provides transparency movement and adaptive arm support control to achieve home-based therapy and training in the real…
This paper proposes a new nonlinear stability analysis for the acceleration-based robust position control of robot manipulators by using Disturbance Observer (DOb). It is shown that if the nominal inertia matrix is properly tuned in the…