相关论文: Affordable Mobile-based Simulator for Robotic Surg…

The control and task automation of robotic surgical system is very challenging, especially in soft tissue manipulation, due to the unpredictable deformations. Thus, an accurate simulator of soft tissues with the ability of interacting with…

Building robots is an engaging activity that provides opportunities for hands-on learning. However, traditional robot-building kits are usually costly with limited functionality due to material and technology constraints. To improve the…

Medical robotics includes assistive devices used by the physician in order to make his/her diagnostic or therapeutic practices easier and more efficient. This chapter focuses on such systems. It introduces the general field of…

Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…

Industrial robots typically require very structured and predictable working environments, and explicit programming, in order to perform well. Therefore, expensive and time-consuming engineering work is a major obstruction when mediating…

Soft robotic systems present a variety of new opportunities for solving complex problems. The use of soft robotic grippers, for example, can simplify the complexity in tasks such as the of grasping irregular and delicate objects. Adoption…

Surgeons must accomplish complex technical and intellectual tasks that can generate unexpected and serious challenges with little or no room for error. In the last decade, computer simulations have played an increasing role in surgical…

Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasing number of soft robots yields a need for approaches that…

Robot-assisted surgical systems have demonstrated significant potential in enhancing surgical precision and minimizing human errors. However, existing systems cannot accommodate individual surgeons' unique preferences and requirements.…

Dexterous manipulation with anthropomorphic robot hands remains a challenging problem in robotics because of the high-dimensional state and action spaces and complex contacts. Nevertheless, skillful closed-loop manipulation is required to…

The use of robots in minimally invasive surgery has improved the quality of standard surgical procedures. So far, only the automation of simple surgical actions has been investigated by researchers, while the execution of structured tasks…

Robotic assistance in minimally invasive surgery can greatly enhance surgical precision and reduce surgeon fatigue. This paper presents a focused investigation on the kinematic and ergonomic design principles for a laparoscopic surgical…

Recent advances in haptic hardware and software technology have generated interest in novel, multimodal interfaces based on the sense of touch. Such interfaces have the potential to revolutionize the way we think about human computer…

Magnetic navigation systems, including magnetic tracking systems and magnetic actuation systems, have shown great potential for occlusion-free localization and remote control of intracorporeal medical devices and robots in minimally…

As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic…

Dexterous manipulation is a crucial yet highly complex challenge in humanoid robotics, demanding precise, adaptable, and sample-efficient learning methods. As humanoid robots are usually designed to operate in human-centric environments and…

Catching objects in flight (i.e., thrown objects) is a common daily skill for humans, yet it presents a significant challenge for robots. This task requires a robot with agile and accurate motion, a large spatial workspace, and the ability…

The high cost of robotic platforms limits students' ability to gain practical skills directly applicable in real-world scenarios. To address this challenge, this paper presents TARA, a low-cost, 3D-printed robotic arm designed for…

Robot learning provides a number of ways to teach robots simple skills, such as grasping. However, these skills are usually trained in open, clutter-free environments, and therefore would likely cause undesirable collisions in more complex,…

Dexterous manipulation with a multi-finger hand is one of the most challenging problems in robotics. While recent progress in imitation learning has largely improved the sample efficiency compared to Reinforcement Learning, the learned…