相关论文: A Master-Follower Teleoperation System for Robotic…
Teleoperation of low-cost manipulators is attracting increasing attention as a practical means of collecting demonstration data for imitation learning. However, most existing systems rely on unilateral control without force feedback, which…
Accurate catheter tracking is crucial during minimally invasive endovascular procedures (MIEP), and electromagnetic (EM) tracking is a widely used technology that serves this purpose. However, registration between preoperative images and…
In this article, we propose Echo, a novel joint-matching teleoperation system designed to enhance the collection of datasets for manual and bimanual tasks. Our system is specifically tailored for controlling the UR manipulator and features…
The evolution from motion capture and teleoperation to robot skill learning has emerged as a hotspot and critical pathway for advancing embodied intelligence. However, existing systems still face a persistent gap in simultaneously achieving…
High-fidelity teleoperation of dexterous robotic hands is essential for bringing robots into unstructured domestic environments. However, existing teleoperation systems often face a trade-off between performance and portability:…
Minimally invasive surgery is highly operator dependant with a lengthy procedural time causing fatigue to surgeon and risks to patients such as injury to organs, infection, bleeding, and complications of anesthesia. To mitigate such risks,…
Cooperative robots for intraocular surgery allow surgeons to perform vitreoretinal surgery with high precision and stability. Several robot structural designs have shown capabilities to perform these surgeries. This research investigates…
Purpose: Intra-Cardiac Echocardiography (ICE) is a powerful imaging modality for guiding cardiac electrophysiology and structural heart interventions. ICE provides real-time observation of anatomy and devices, while enabling direct…
Teleoperation of humanoid robots has long been a challenging domain, necessitating advances in both hardware and software to achieve seamless and intuitive control. This paper presents an integrated solution based on several elements:…
We present a method for EMG-driven teleoperation of non-anthropomorphic robot hands. EMG sensors are appealing as a wearable, inexpensive, and unobtrusive way to gather information about the teleoperator's hand pose. However, mapping from…
Ultrasound scanning robots enable the automatic imaging of a patient's internal organs by maintaining close contact between the ultrasound probe and the patient's body during a scanning procedure. Comprehensive, high-quality ultrasound…
Radiofrequency (RF) catheter ablation has transformed treatment for tachyarrhythmias and has become first-line therapy for some tachycardias. The precise localization of the arrhythmogenic site and the positioning of the RF catheter over…
Integrating Brain-Machine Interfaces into non-clinical applications like robot motion control remains difficult - despite remarkable advancements in clinical settings. Specifically, EEG-based motor imagery systems are still error-prone,…
Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However,…
This paper describes the design and control of a support and recovery system for use with planar legged robots. The system operates in three modes. First, it can be operated in a fully transparent mode where no forces are applied to the…
In this study, we introduce an optimization framework aimed at enhancing the efficiency of motion priority design in scenarios involving automated and teleoperated robots within an industrial recovery context. The escalating utilization of…
Many keyhole interventions rely on bi-manual handling of surgical instruments, forcing the main surgeon to rely on a second surgeon to act as a camera assistant. In addition to the burden of excessively involving surgical staff, this may…
This paper introduces a low-cost experimental mockup to simulate the laser cutting process of containers in nuclear decommissioning. It is composed of a three-axis table supporting a cuboid container with ultraviolet-sensitive faces, a…
Purpose: Developing and testing a framework that integrates real-time catheter shape reconstruction, interactive simulations, and mixed reality visualization to enable accurate monitoring of catheter-vessel interactions during endovascular…
Bimanual robot manipulators can achieve impressive dexterity, but typically rely on two full six- or seven- degree-of-freedom arms so that paired grippers can coordinate effectively. This traditional framework increases system complexity…