相关论文: Characterization of Real-time Haptic Feedback from…
Industrial warehouses are congested with moving forklifts, shelves and personnel, making robot teleoperation particularly risky and demanding for blind and low-vision (BLV) operators. Although accessible teleoperation plays a key role in…
Haptic upper limb exoskeletons are robots that assist human operators during task execution while having the ability to render virtual or remote environments. Therefore, the stability of such robots in physical human-robot-environment…
Tactile feedback is critical for understanding the dynamics of both rigid and deformable objects in many manipulation tasks, such as non-prehensile manipulation and dense packing. We introduce an approach that combines visual and tactile…
Teleoperated robotic systems have introduced more intuitive control for minimally invasive surgery, but the optimal method for training remains unknown. Recent motor learning studies have demonstrated that exaggeration of errors helps…
Haptic guidance is a powerful technique to combine the strengths of humans and autonomous systems for teleoperation. The autonomous system can provide haptic cues to enable the operator to perform precise movements; the operator can…
Haptic perception is highly important for immersive teleoperation of robots, especially for accomplishing manipulation tasks. We propose a low-cost haptic sensing and rendering system, which is capable of detecting and displaying surface…
Accurately modeling soft robots in simulation is computationally expensive and commonly falls short of representing the real world. This well-known discrepancy, known as the sim-to-real gap, can have several causes, such as coarsely…
This work presents an evaluation study using a force feedback evaluation framework for a novel direct needle force volume rendering concept in the context of liver puncture simulation. PTC/PTCD puncture interventions targeting the bile…
Deep imitation learning is promising for robot manipulation because it only requires demonstration samples. In this study, deep imitation learning is applied to tasks that require force feedback. However, existing demonstration methods have…
We present an assistance system that reasons about a human's intended actions during robot teleoperation in order to provide appropriate corrections for unintended behavior. We model the human's physical interaction with a control interface…
Force-directed layout algorithms are ubiquitously-used tools for network visualisation across a multitude of scientific disciplines. However, they lack theoretical grounding which allows to interpret their outcomes rigorously and can guide…
Biological systems leverage top-down feedback for visual processing, yet most artificial vision models succeed in image classification using purely feedforward or recurrent architectures, calling into question the functional significance of…
In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and robot control techniques have been developed to aid in more…
Optical tweezers (OT) provide piconewton-scale manipulation for delicate biomedical tasks, where visuo-haptic feedback can improve operator awareness by conveying interaction-force cues and trap-stability information. However, visuo-haptic…
Robotic systems can enhance the amount and repeatability of physically guided motor training. Yet their real-world adoption is limited, partly due to non-intuitive trainer/therapist-trainee/patient interactions. To address this gap, we…
Vision-based locomotion in outdoor environments presents significant challenges for quadruped robots. Accurate environmental prediction and effective handling of depth sensor noise during real-world deployment remain difficult, severely…
Precise grasp force regulation in tendon-driven surgical instruments is fundamentally limited by nonlinear coupling between motor dynamics, transmission compliance, friction, and distal mechanics. Existing solutions typically rely on distal…
Manipulating an environment remotely with a robotic teleoperator introduces novel electromechanical (EM) dynamics between the user and environment. While considerable effort has focused on minimizing these dynamics, there is limited…
The application of teleoperation to control robotic arms has been widely explored, and user-friendly teleoperation systems have been studied for facilitating higher performance and lower operational burden. To investigate the dominant…
Applications like disaster management and industrial inspection often require experts to enter contaminated places. To circumvent the need for physical presence, it is desirable to generate a fully immersive individual live teleoperation…