相关论文: Visual-Haptic Model Mediated Teleoperation for Rem…
A remote collaboration setup allows an expert to instruct a remotely located novice user to help them with a task. Advanced solutions exist in the field of remote guidance and telemanipulation, however, we lack a device that combines these…
Knowledge of 3-D object shape is of great importance to robot manipulation tasks, but may not be readily available in unstructured environments. While vision is often occluded during robot-object interaction, high-resolution tactile sensors…
In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and robot control techniques have been developed to aid in more…
Ultrasound modulated optical tomography, also called acousto-optics tomography, is a hybrid imaging modality that aims to combine the high contrast of optical waves with the high resolution of ultrasound. We follow the model of the…
In the context of telehealth, robotic approaches have proven a valuable solution to in-person visits in remote areas, with decreased costs for patients and infection risks. In particular, in ultrasonography, robots have the potential to…
We present a volumetric communication system that is designed for remote assistance of procedural tasks. The system allows a remote expert to visually guide a local operator. The two parties share a view that is spatially identical, but for…
Speed-of-sound is a biomechanical property for quantitative tissue differentiation, with great potential as a new ultrasound-based image modality. A conventional ultrasound array transducer can be used together with an acoustic mirror, or…
While the search for new solvents in the chemical industry is of uttermost importance with respect to environmental considerations, this domain remains strongly tied to highly manual and visual inspection tasks by human experts. As the…
[...] With the TelePhysicalOperation interface, the user can teleoperate the different capabilities of a robot (e.g., single/double arm manipulation, wheel/leg locomotion) by applying virtual forces on selected robot body parts. This…
Ultrasound (US) has emerged as a promising modality for Human-Machine Interfaces (HMIs), with recent research efforts exploring its potential for Hand Pose Estimation (HPE). A reliable solution to this problem could introduce interfaces…
In this paper, a method of rendering aerial haptics that uses an aerodynamic vortex and focused ultrasound is presented. Significant research has been conducted on haptic applications based on multiple phenomena such as magnetic and…
This study proposes an approach to human-to-humanoid teleoperation using GAN-based online motion retargeting, which obviates the need for the construction of pairwise datasets to identify the relationship between the human and the humanoid…
Vision-Language Foundation Models (VLFMs) exhibit remarkable generalization, yet their direct application to medical ultrasound is severely hindered by a profound modality gap. The unique acoustic physics of ultrasound, characterized by…
In the era of Large Language Models (LLMs), embodied artificial intelligence presents transformative opportunities for robotic manipulation tasks. Ultrasound imaging, a widely used and cost-effective medical diagnostic procedure, faces…
Technology has made navigation in 3D real time possible and this has made possible what seemed impossible. This paper explores the aspect of deep visual odometry methods for mobile robots. Visual odometry has been instrumental in making…
Robotic-assisted surgery offers significant clinical advantages but largely eliminates direct haptic feedback, increasing the risk of excessive tool-tissue interaction forces. Although recent commercial systems have begun to introduce force…
Visual Teach-and-Repeat Navigation is a direct solution for mobile robot to be deployed in unknown environments. However, robust trajectory repeat navigation still remains challenged due to environmental changing and dynamic objects. In…
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…
Ultrasound is well-established as an imaging modality for diagnostic and interventional purposes. However, the image quality varies with operator skills as acquiring and interpreting ultrasound images requires extensive training due to the…
Attaching a robotic manipulator to a flying base allows for significant improvements in the reachability and versatility of manipulation tasks. In order to explore such systems while taking advantage of human capabilities in terms of…