相关论文: Continuum Robot Shape Estimation Using Magnetic Ba…

Can robots mold soft plastic materials by shaping depth images? The short answer is no: current day robots can't. In this article, we address the problem of shaping plastic material with an anthropomorphic arm/hand robot, which observes the…

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…

By using directional distance sensors that have unknown locations, this paper proposes a method of estimating the shape of a location-unknown target object $T$ moving with unknown speed on an unknown straight line trajectory. Regardless of…

Shape change enables new capabilities for robots. One class of robots capable of dramatic shape change is soft growing "vine" robots. These robots usually feature global actuation methods for bending that limit them to simple,…

The trailing edge of tube drift-chamber signals for charged particles is expected to provide information concerning the particle passage time. This information may be useful for separating meaningful signals from overlapping garbage at…

Continuum robots are becoming increasingly popular for applications which require the robots to deform and change shape, while also being compliant. A cable-driven continuum robot is one of the most commonly used type. Typical cable driven…

External contact force is one of the most significant information for the robots to model, control, and safely interact with external objects. For continuum robots, it is possible to estimate the contact force based on the measurements of…

Visuotactile sensing technology has received much attention in recent years. This article proposes a feature detection method applicable to visuotactile sensors based on continuous marker patterns (CMP) to measure 3-d deformation. First, we…

State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D world. Among sensors that are designed for measuring a robot's pose, or for soft…

Incorrectly sized balloon catheters can lead to increased post-surgical complications, yet even with preoperative imaging, correct selection remains a challenge. With limited feedback during surgery, it is difficult to verify correct…

Recently, a new concept for continuum robots capable of producing macro-scale and micro-scale motion has been presented. These robots achieve their multi-scale motion capabilities by coupling direct-actuation of push-pull back-bones for…

Soft, tip-extending vine robots are well suited for navigating tight, debris-filled environments, making them ideal for urban search and rescue. Sensing the full shape of a vine robot's body is helpful both for localizing information from…

It is at times important to detect human presence automatically in secure environments. This needs a shape recognition algorithm that is robust, fast and has low error rates. The algorithm needs to process camera images quickly to detect…

Small catheters undergo significant torsional deflections during endovascular interventions. A key challenge in enabling robot control of these catheters is the estimation of their bending planes. This paper considers approaches for…

We introduce a shape-sensitive loss function for catheter and guidewire segmentation and utilize it in a vision transformer network to establish a new state-of-the-art result on a large-scale X-ray images dataset. We transform…

The pattern formation task is commonly seen in a multi-robot system. In this paper, we study the problem of forming complex shapes with functionally limited mobile robots, which have to rely on other robots to precisely locate themselves.…

With the potential applications of capsule robots in medical endoscopy, accurate dynamic control of the capsule robot is becoming more and more important. In the scale of a capsule robot, the friction between capsule and the environment…

The cochlea, the auditory part of the inner ear, is a spiral-shaped organ with large morphological variability. An individualized assessment of its shape is essential for clinical applications related to tonotopy and cochlear implantation.…

Rotation speed is a key metric for many applications, such as calibrating electric motors in a factory, monitoring a car's engine health, detecting faults in electrical appliances, and more. However, existing measurement techniques have…

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…