相关论文: Visual-Haptic Model Mediated Teleoperation for Rem…
Fine-grained, contact-rich teleoperation remains slow, error-prone, and unreliable in real-world manipulation tasks, even for experienced operators. Shared autonomy offers a promising way to improve performance by combining human intent…
Multi-View Photometric Stereo (MVPS) is a popular method for fine-detailed 3D acquisition of an object from images. Despite its outstanding results on diverse material objects, a typical MVPS experimental setup requires a well-calibrated…
Haptic feedback enhances collision avoidance by providing directional obstacle information to operators during unmanned aerial vehicle (UAV) teleoperation. However, such feedback is often rendered via haptic joysticks, which are unfamiliar…
We present a computational method for real-time, patient-specific simulation of 2D ultrasound (US) images. The method uses a large number of tracked ultrasound images to learn a function that maps position and orientation of the transducer…
Distributed Virtual Reality systems enable globally dispersed users to interact with each other in a shared virtual environment. In such systems, different types of latencies occur. For a good VR experience, they need to be controlled. The…
Research in multi-modal interfaces aims to provide solutions to immersion and increase overall human performance. A promising direction is combining auditory, visual and haptic interaction between the user and the simulated environment.…
The paper deals with the well-known problem of teleoperating a robotic arm along six degrees of freedom. The prevailing and most effective approach to this problem involves a direct position-to-position mapping, imposing robotic…
This article presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device, but also a virtual reality (VR) interface that provides…
Teleoperation offers a promising solution for enabling hands-on learning in remote education, particularly in environments requiring interaction with real-world equipment. However, such remote experiences can be costly or non-intuitive. To…
Although pre-training on a large amount of data is beneficial for robot learning, current paradigms only perform large-scale pretraining for visual representations, whereas representations for other modalities are trained from scratch. In…
While both navigation and manipulation are challenging topics in isolation, many tasks require the ability to both navigate and manipulate in concert. To this end, we propose a mobile manipulation system that leverages novel navigation and…
Human Mesh Recovery (HMR) from an image is a challenging problem because of the inherent ambiguity of the task. Existing HMR methods utilized either temporal information or kinematic relationships to achieve higher accuracy, but there is no…
Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However,…
Ultrasound (US) imaging is widely used in diagnosing and staging abdominal diseases due to its lack of non-ionizing radiation and prevalent availability. However, significant inter-operator variability and inconsistent image acquisition…
We present the design of a mixed reality (MR) telehealth training system that aims to close the gap between in-person and distance training and re-training for medical procedures. Our system uses real-time volumetric capture as a means for…
Ultrasound offers a radiation-free, cost-effective solution for real-time visualization of spinal landmarks, paraspinal soft tissues and neurovascular structures, making it valuable for intraoperative guidance during spinal procedures.…
Applications like disaster management and industrial inspection often require experts to enter contaminated places. To circumvent the need for physical presence, it is desirable to generate a fully immersive individual live teleoperation…
Background and aim: Most of the Mixed Reality models used in the surgical telepresence are suffering from discrepancies in the boundary area and spatial-temporal inconsistency due to the illumination variation in the video frames. The aim…
Teleoperation presents a promising paradigm for remote control and robot proprioceptive data collection. Despite recent progress, current teleoperation systems still suffer from limitations in efficiency and ergonomics, particularly in…
Access to obstetric ultrasound is often limited in low-resource settings, particularly in rural areas of low- and middle-income countries. This work proposes a human-in-the-loop artificial intelligence (AI) system designed to assist…