相关论文: Elasticity Measurements of Expanded Foams using a …

Diagnostic activities, such as ultrasound scans and palpation, are relatively low-cost. They play a crucial role in the early detection of health problems and in assessing their progression. However, they are also error-prone activities,…

Soft tissue elasticity is directly related to different stages of diseases and can be used for tissue identification during minimally invasive procedures. By palpating a tissue with a robot in a minimally invasive fashion force-displacement…

The paper presents the methodology used for accuracy and repeatability measurements of the experimental model of a parallel robot developed for surgical applications. The experimental setup uses a motion tracking system (for accuracy) and a…

The variety of robotic hand designs and actuation schemes makes it difficult to measure a hand's graspable volume. For end-users, this lack of standardized measurements makes it challenging to determine a priori if a robot hand is the right…

Robotic-assisted orthopaedic surgeries demand accurate, automated leg manipulation for improved spatial accuracy to reduce iatrogenic damage. In this study, we propose novel rigid body designs and an optical tracking volume setup for…

Expressivity--the use of multiple modalities to convey internal state and intent of a robot--is critical for interaction. Yet, due to cost, safety, and other constraints, many robots lack high degrees of physical expressivity. This paper…

The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the…

The paper is devoted to the accuracy improvement of robot-based milling by using an enhanced manipulator model that takes into account both geometric and elastostatic factors. Particular attention is paid to the model parameters…

The measurement of real contact area between rough surfaces is one of most challenge problems in contact mechanics and is of importance to understand some physical mechanisms in tribology. Based on the frustrated total internal reflection,…

This paper presents a principled way to think about articulated movement for artificial agents and a measurement of platforms that produce such movement. In particular, in human-facing scenarios, the shape evolution of robotic platforms…

Humans display the remarkable ability to sense the world through tools and other held objects. For example, we are able to pinpoint impact locations on a held rod and tell apart different textures using a rigid probe. In this work, we…

Wearable robotic systems are a class of robots that have a tight coupling between human and robot movements. Similar to non-wearable robots, it is important to measure the trust a person has that the robot can support achieving the desired…

A realistic human kinematic model that satisfies anatomical constraints is essential for human-robot interaction, biomechanics and robot-assisted rehabilitation. Modeling realistic joint constraints, however, is challenging as human arm…

Hand-wearable robots, specifically exoskeletons, are designed to aid hands in daily activities, playing a crucial role in post-stroke rehabilitation and assisting the elderly. Our contribution to this field is a textile robotic glove with…

Tactile sensation is essential for humans to recognize objects. Various devices have been developed in the past for tactile presentation by electrostatic force, which are easy to configure devices, but there is currently no such device that…

In the domain of assistive robotics, the significance of effective modeling is well acknowledged. Prior research has primarily focused on enhancing model accuracy or involved the collection of extensive, often impractical amounts of data.…

We propose a novel autonomous robotic palpation framework for real-time elastic mapping during tissue exploration using a viscoelastic tissue model. The method combines force-based parameter estimation using a commercial force/torque sensor…

Stiffness estimation is crucial for delicate object manipulation in robotic and prosthetic hands but remains challenging due to dependence on force and displacement measurement and real-time sensory integration. This study presents a…

Grasping compliant objects is difficult for robots - applying too little force may cause the grasp to fail, while too much force may lead to object damage. A robot needs to apply the right amount of force to quickly and confidently grasp…

Flexible robots have advantages over rigid robots in their ability to conform physically to their environment and to form a wide variety of shapes. Sensing the force applied by or to flexible robots is useful for both navigation and…