相关论文: Sensory Glove-Based Surgical Robot User Interface
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…
Recent advances in telecommunications have enabled surgeons to operate remotely on patients with the use of robotics. The investigation and testing of remote surgery using a robotic arm is presented. The robotic arm is designed to have four…
Embodied interaction has been introduced to human-robot interaction (HRI) as a type of teleoperation, in which users control robot arms with bodily action via handheld controllers or haptic gloves. Embodied teleoperation has made robot…
This paper presents GelSight Svelte Hand, a novel 3-finger 2-DoF tactile robotic hand that is capable of performing precision grasps, power grasps, and intermediate grasps. Rich tactile signals are obtained from one camera on each finger,…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
We explore whether surgical manipulation tasks can be learned on the da Vinci robot via imitation learning. However, the da Vinci system presents unique challenges which hinder straight-forward implementation of imitation learning. Notably,…
The collaborative robot market is flourishing as there is a trend towards simplification, modularity, and increased flexibility on the production line. But when humans and robots are collaborating in a shared environment, the safety of…
During surgery, scrub nurses are required to frequently deliver surgical instruments to surgeons, which can lead to physical fatigue and decreased focus. Robotic scrub nurses provide a promising solution that can replace repetitive tasks…
Robotic-assisted surgery is now well-established in clinical practice and has become the gold standard clinical treatment option for several clinical indications. The field of robotic-assisted surgery is expected to grow substantially in…
Hand Gesture Recognition (HGR) based on inertial data has grown considerably in recent years, with the state-of-the-art approaches utilizing a single handheld sensor and a vocabulary comprised of simple gestures. In this work we explore the…
Robotic skill learning has been increasingly studied but the demonstration collections are more challenging compared to collecting images/videos in computer vision and texts in natural language processing. This paper presents a skill…
Data gloves play a crucial role in study of human grasping, and could provide insights into grasp synergies. Grasp synergies lead to identification of underlying patterns to develop control strategies for hand exoskeletons. This paper…
Hand impairment following neurological disorders substantially limits independence in activities of daily living, motivating the development of effective assistive and rehabilitation strategies. Soft robotic gloves have attracted growing…
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…
Autonomous surgical execution relieves tedious routines and surgeon's fatigue. Recent learning-based methods, especially reinforcement learning (RL) based methods, achieve promising performance for dexterous manipulation, which usually…
Tactile sensing is of great importance during human hand usage such as object exploration, grasping and manipulation. Different types of tactile sensors have been designed during the past decades, which are mainly focused on either the…
Despite significant advances in touch and force transduction, tactile sensing is still far from ubiquitous in robotic manipulation. Existing methods for building touch sensors have proven difficult to integrate into robot fingers due to…
Physics-based simulations have accelerated progress in robot learning for driving, manipulation, and locomotion. Yet, a fast, accurate, and robust surgical simulation environment remains a challenge. In this paper, we present…
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…
This paper proposes a visual-servoing method dedicated to grasping of daily-life objects. In order to obtain an affordable solution, we use a low-accurate robotic arm. Our method corrects errors by using an RGB-D sensor. It is based on SURF…