相关论文: Collaborative Robot Arm Inserting Nasopharyngeal S…
The pandemic of novel Coronavirus Disease 2019 (COVID-19) is widespread all over the world causing serious health problems as well as serious impact on the global economy. Reliable and fast testing of the COVID-19 has been a challenge for…
Navigation inside luminal organs is an arduous task that requires non-intuitive coordination between the movement of the operator's hand and the information obtained from the endoscopic video. The development of tools to automate certain…
In this paper, we describe an approach for representation learning of audio signals for the task of COVID-19 detection. The raw audio samples are processed with a bank of 1-D convolutional filters that are parameterized as cosine modulated…
Research significance: The extended version of this paper has been accepted by IEEE Internet of Things journal (DOI: 10.1109/JIOT.2020.2991456), please cite the journal version. During the epidemic prevention and control period, our study…
Miles of contaminated pipe must be measured, foot by foot, as part of the decommissioning effort at deactivated gaseous diffusion enrichment facilities. The current method requires cutting away asbestos-lined thermal enclosures and…
The article develops an impact-resilient aerial robot (s-ARQ) equipped with a compliant arm to sense contacts and reduce collision impact and featuring a real-time contact force estimator and a non-linear motion controller to handle…
Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control…
An important factor in developing control models for human-robot collaboration is how acceptable they are to their human partners. One such method for creating acceptable control models is to attempt to mimic human-like behaviour in robots…
The robotic manipulation of compliant objects is currently one of the most active problems in robotics due to its potential to automate many important applications. Despite the progress achieved by the robotics community in recent years,…
Pharyngeal health plays a vital role in essential human functions such as breathing, swallowing, and vocalization. Early detection of swallowing abnormalities, also known as dysphagia, is crucial for timely intervention. However, current…
Robotic assistance allows surgeries to be reliably and accurately executed while still under direct supervision of the surgeon, combining the strengths of robotic technology with the surgeon's expertise. This paper describes a robotic…
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…
In this paper, we introduce the concept of using passive arm structures with intrinsic impedance for robot-robot and human-robot collaborative carrying with quadruped robots. The concept is meant for a leader-follower task and takes a…
The use of autonomous robots for assistance tasks in hospitals has the potential to free up qualified staff and im-prove patient care. However, the ubiquity of deformable and transparent objects in hospital settings poses signif-icant…
The robotic assembly represents a group of benchmark problems for reinforcement learning and variable compliance control that features sophisticated contact manipulation. One of the key challenges in applying reinforcement learning to…
Rehabilitation training for patients with motor disabilities usually requires specialized devices in rehabilitation centers. Home-based multi-purpose training would significantly increase treatment accessibility and reduce medical costs.…
In this project, we focus on human-robot interaction in caregiving scenarios like bathing, where physical contact is inevitable and necessary for proper task execution because force must be applied to the skin. Using finite element…
In post-covid19 world, radio frequency (RF)-based non-contact methods, e.g., software-defined radios (SDR)-based methods have emerged as promising candidates for intelligent remote sensing of human vitals, and could help in containment of…
In the near future, collaborative robots (cobots) are expected to play a vital role in the manufacturing and automation sectors. It is predicted that workers will work side by side in collaboration with cobots to surpass fully automated…
Medical applications of robots are increasingly popular to objectivise and speed up the execution of several types of diagnostic and therapeutic interventions. Particularly important is a class of diagnostic activities that require physical…