相关论文: An Image-Guided Robotic System for Transcranial Ma…
This work presents a motion planning framework for robotic manipulators that computes collision-free paths directly in image space. The generated paths can then be tracked using vision-based control, eliminating the need for an explicit…
Purpose: Recent developments in robotics and artificial intelligence (AI) have led to significant advances in healthcare technologies enhancing robot-assisted minimally invasive surgery (RAMIS) in some surgical specialties. However, current…
Modern robotic manipulation primarily relies on visual observations in a 2D color space for skill learning but suffers from poor generalization. In contrast, humans, living in a 3D world, depend more on physical properties-such as distance,…
Prompt-based learning has been demonstrated as a compelling paradigm contributing to large language models' tremendous success (LLMs). Inspired by their success in language tasks, existing research has leveraged LLMs in embodied instruction…
Mapping is one of the crucial tasks enabling autonomous navigation of a mobile robot. Conventional mapping methods output a dense geometric map representation, e.g. an occupancy grid, which is not trivial to keep consistent for prolonged…
Robotic assistance for experimental manipulation in the life sciences is expected to enable precise manipulation of valuable samples, regardless of the skill of the scientist. Experimental specimens in the life sciences are subject to…
Non-invasive brain stimulation, such as transcranial alternating current stimulation (tACS) provides a powerful tool to directly modulate brain oscillations that mediate complex cognitive processes. While the body of evidence about the…
Magnetic soft robots have attracted growing interest due to their unique advantages in terms of untethered actuation and excellent controllability. However, finding the required magnetization patterns or magnetic fields to achieve the…
Model-based controllers using a linearized model around the system's equilibrium point is a common approach in the control of a wheeled humanoid due to their less computational load and ease of stability analysis. However, controlling a…
The pre-training of visual representations has enhanced the efficiency of robot learning. Due to the lack of large-scale in-domain robotic datasets, prior works utilize in-the-wild human videos to pre-train robotic visual representation.…
Magnetic Resonance Imaging (MRI) is the primary imaging modality used in the diagnosis, assessment, and treatment planning for brain pathologies. However, most automated MRI analysis tools, such as segmentation and registration pipelines,…
Computational biomechanics of the brain for neurosurgery is an emerging area of research recently gaining in importance and practical applications. This review paper presents the contributions of the Intelligent Systems for Medicine…
Motion planning under sensing uncertainty is critical for robots in unstructured environments to guarantee safety for both the robot and any nearby humans. Most work on planning under uncertainty does not scale to high-dimensional robots…
Accurate state estimation is a fundamental component of robotic control. In robotic manipulation tasks, as is our focus in this work, state estimation is essential for identifying the positions of objects in the scene, forming the basis of…
A trained-based Born iterative method (TBIM) is developed for electromagnetic imaging (EMI) applications. The proposed TBIM consists of a nested loop; the outer loop executes TBIM iteration steps, while the inner loop executes a trained…
Precision is a crucial performance indicator for robot arms, as high precision manipulation allows for a wider range of applications. Traditional methods for improving robot arm precision rely on error compensation. However, these methods…
In this paper, we discuss a novel continuum robot design that enables the online tuning of the magnetic response at its tip. The proposed method allows for the change of both effective magnetic direction and intensity, introducing steering…
We propose a system to deliver dynamic guidance in drawing, sketching and handwriting tasks via an electromagnet moving underneath a high refresh rate pressure sensitive tablet. The system allows the user to move the pen at their own pace…
Accurate and efficient tracking of surgical instruments is fundamental for Robot-Assisted Minimally Invasive Surgery. Although vision-based robot pose estimation has enabled markerless calibration without tedious physical setups, reliable…
Accurate human motion prediction is crucial for safe human-robot collaboration but remains challenging due to the complexity of modeling intricate and variable human movements. This paper presents Parallel Multi-scale Incremental Prediction…