相关论文: Sensors for expert grip force profiling: towards b…
Instrument-tissue interaction forces in Minimally Invasive Surgery (MIS) provide valuable information that can be used to provide haptic perception, monitor tissue trauma, develop training guidelines, and evaluate the skill level of novice…
Biosensors and wearable sensor systems with transmitting capabilities are currently developed and used for the monitoring of health data, exercise activities, and other performance data. Unlike conventional approaches, these devices enable…
This concept paper draws from our previous research on individual grip force data collected from biosensors placed on specific anatomical locations in the dominant and non dominant hands of operators performing a robot assisted precision…
Wearable biosensor technology enables real-time, convenient, and continuous monitoring of users behavioral signals. Such include signals relative to body motion, body temperature, biological or biochemical markers, and individual grip…
This paper presents a novel multi-axis force-sensing approach in robotic minimally invasive surgery with no modification to the surgical instrument. Thus, it is adaptable to different surgical instruments. A novel 6-axis optical force…
Robotics enables a variety of unconventional actuation strategies to be used for endoscopes, resulting in reduced trauma to the GI tract. For transmission of force to distally mounted endoscopic instruments, robotically actuated tendon…
In robotic surgery, the surgeon controls robotic instruments using dedicated interfaces. One critical limitation of current interfaces is that they are designed to be operated by only the hands. This means that the surgeon can only control…
A common limitation of autonomous tissue manipulation in robotic minimally invasive surgery (MIS) is the absence of force sensing and control at the tool level. Recently, our team has developed miniature force-sensing forceps that can…
Force perception on medical instruments is critical for understanding the mechanism between surgical tools and tissues for feeding back quantized force information, which is essential for guidance and supervision in robotic autonomous…
Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in…
The human-machine interface is of critical importance for master-slave control of the robotic system for surgery, in which current systems offer the control or two robotic arms teleoperated by the surgeon's hands. To relax the need for…
Soft robotic fingers can improve adaptability in grasping and manipulation, compensating for geometric variation in object or environmental contact, but today lack force capacity and fine dexterity. Integrated tactile sensors can provide…
This paper builds on our previous work by exploiting Artificial Intelligence to predict individual grip force variability in manual robot control. Grip forces were recorded from various loci in the dominant and non dominant hands of…
Wearable sensor systems with transmitting capabilities are currently employed for the biometric screening of exercise activities and other performance data. Such technology is generally wireless and enables the noninvasive monitoring of…
We describe the grasping and manipulation strategy that we employed at the autonomous track of the Robotic Grasping and Manipulation Competition at IROS 2016. A salient feature of our architecture is the tight coupling between visual (Asus…
Individual grip force profiling of bimanual simulator task performance of experts and novices using a robotic control device designed for endoscopic surgery permits defining benchmark criteria that tell true expert task skills from the…
Handling fragile objects remains a major challenge for robotic manipulation. Tactile sensing and soft robotics can improve delicate object handling, but typically involve high integration complexity or slow response times. We address these…
We introduce the soft curvature and spectroscopy (SCANS) system: a versatile, electronics-free, fluidically actuated soft manipulator capable of assessing the spectral properties of objects either in hand or through pre-touch caging. This…
The presence of post-stroke grasping deficiencies highlights the critical need for the development and implementation of advanced compensatory strategies. This paper introduces a novel system to aid chronic stroke survivors through the…
Continual reinforcement learning (CRL) requires agents to learn from a sequence of tasks without forgetting previously acquired policies. In this work, we introduce a novel benchmark suite for CRL based on realistically simulated robots in…