相关论文: Digital Modeling of Massage Techniques and Reprodu…
Robotic Manipulation (RM) is central to the advancement of autonomous robots, enabling them to interact with and manipulate objects in real-world environments. This survey focuses on RM methodologies that leverage imitation learning, a…
This paper proposes an approach for controlling surgical robotic systems, while complying with the Remote Center of Motion (RCM) constraint in Robot-Assisted Minimally Invasive Surgery (RA-MIS). In this approach, the RCM-constraint is…
In laparoscopic robot-assisted minimally invasive surgery, the kinematic control of the robot is subject to the remote center of motion (RCM) constraint at the port of entry (e.g., trocar) into the patient's body. During surgery, after the…
Traditional Chinese Medicine diagnosis and treatment principles, established through centuries of trial-and-error clinical practice, directly maps patient-specific symptom patterns to personalised herbal therapies. These empirical holistic…
The impressive capabilities of humans to robustly perform manipulation relies on compliant interactions, enabled through the structure and materials spatially distributed in our hands. We propose by mimicking this distributed compliance in…
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…
Many technical solutions are bio-inspired. Octopus-inspired robotic arms belong to continuum robots which are used in minimally invasive surgery or for technical system restoration in areas difficult-toaccess. Continuum robot missions are…
The increasing deployment of robots has significantly enhanced the automation levels across a wide and diverse range of industries. This paper investigates the automation challenges of laser-based dermatology procedures in the beauty…
This paper presents the development and assessment of a teleoperation framework for robot-assisted minimally invasive surgery (MIS). The framework leverages our novel integration of an adaptive remote center of motion (RCM) using admittance…
Robot manipulation is an important part of human-robot interaction technology. However, traditional pre-programmed methods can only accomplish simple and repetitive tasks. To enable effective communication between robots and humans, and to…
Transcranial magnetic stimulation (TMS) is a non-invasive and safe brain stimulation procedure with growing applications in clinical treatments and neuroscience research. However, achieving precise stimulation over prolonged sessions poses…
The vision of personalized medicine is to identify interventions that maintain or restore a person's health based on their individual biology. Medical digital twins, computational models that integrate a wide range of health-related data…
Transcranial magnetic stimulation (TMS) is a noninvasive medical procedure that can modulate brain activity, and it is widely used in neuroscience and neurology research. Compared to manual operators, robots may improve the outcome of TMS…
This paper presents a numerical method to conceive and design the kinematic model of an anthropomorphic robotic hand used for gesturing and grasping. In literature, there are few numerical methods for the finger placement of human-inspired…
This paper explores the possibility of improving bilateral robot manipulation task performance through optimizing the robot morphology and configuration of the system through motion. To optimize the design for different scenarios, we select…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
We propose a parallel massage robot with compliant joints based on the series elastic actuator (SEA), offering a unified force-position control approach. First, the kinematic and static force models are established for obtaining the…
Human-robot shared control, which integrates the advantages of both humans and robots, is an effective approach to facilitate efficient surgical operation. Learning from demonstration (LfD) techniques can be used to automate some of the…
Traditional Chinese Medicine (TCM) has accumulated a big amount of precious resource in the long history of development. TCM prescriptions that consist of TCM herbs are an important form of TCM treatment, which are similar to natural…
Robotic assistance in minimally invasive surgery can greatly enhance surgical precision and reduce surgeon fatigue. This paper presents a focused investigation on the kinematic and ergonomic design principles for a laparoscopic surgical…