相关论文: SIMS: Surgeon-Intention-driven Motion Scaling for …
Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a…
Development of dexterous robotic joints is essential for advancing manipulation capabilities in robotic systems. This paper presents the design and implementation of a tendon-driven robotic wrist joint together with an efficient Sliding…
Snake robots offer considerable potential for endoscopic interventions due to their ability to follow curvilinear paths. Telemanipulation is an open problem due to hyper-redundancy, as input devices only allow a specification of six degrees…
In this study, we propose a shared control method for teleoperated mobile robots using brain-machine interfaces (BMI). The control commands generated through BMI for robot operation face issues of low input frequency, discreteness, and…
One way of ensuring operator's safety during human-robot collaboration is through Speed and Separation Monitoring (SSM), as defined in ISO standard ISO/TS 15066. In general, it is impossible to avoid all human-robot collisions: consider for…
Sensor fusion of a MEMS IMU with a magnetometer is a popular system design, because such 9-DoF (degrees of freedom) systems are capable of achieving drift-free 3D orientation tracking. However, these systems are often vulnerable to ambient…
Integrating accurate haptic feedback into robot-assisted minimally invasive surgery (RAMIS) remains challenging due to difficulties in precise force rendering and ensuring system safety during teleoperation. We present a Nonlinear Impedance…
The development of effective training and evaluation strategies is critical. Conventional methods for assessing surgical proficiency typically rely on expert supervision, either through onsite observation or retrospective analysis of…
Reconfigurable intelligent surfaces (RIS) can improve signal propagation environments by adjusting the phase of the incident signal. However, optimizing the phase shifts jointly with the beamforming vector at the access point is challenging…
Flexible intelligent metasurfaces (FIMs) offer a new solution for wireless communications by introducing morphological degrees of freedom, dynamically morphing their three-dimensional shape to ensure multipath signals interfere…
Stacked intelligent metasurfaces (SIMs) have recently gained significant interest since they enable precoding in the wave domain that comes with increased processing capability and reduced energy consumption. The study of SIMs and high…
Existing Simultaneous Localization and Mapping (SLAM) approaches are limited in their scalability due to growing map size in long-term robot operation. Moreover, processing such maps for localization and planning tasks leads to the…
Cascaded or stacked intelligent metasurfaces (SIMs) have emerged as a promising technology to overcome the physical limitations of single-layer reconfigurable intelligent surfaces (RISs) in wideband wireless communication. By intelligently…
We present an efficient algorithm for motion planning and control of a robot system with a high number of degrees-of-freedom. These include high-DOF soft robots or an articulated robot interacting with a deformable environment. Our approach…
Rehabilitation exoskeletons have shown promising results in promoting recovery for stroke patients. Accurately and timely identifying the motion intentions of patients is a critical challenge in enhancing active participation during lower…
Teleoperation can transfer human perception and cognition to a slave robot to cope with some complex tasks, in which the agility and flexibility of the interface play an important role in mapping human intention to the robot. In this paper,…
Robotic-assisted medical systems (RAMS) have gained significant attention for their advantages in alleviating surgeons' fatigue and improving patients' outcomes. These systems comprise a range of human-computer interactions, including…
In teleoperation, research has mainly focused on target approaching, where we deal with the more challenging object manipulation task by advancing the shared control technique. Appropriately manipulating an object is challenging due to the…
Temporal human action detection aims to identify and localize action segments within untrimmed videos, serving as a pivotal task in video understanding. Despite the progress achieved by prior architectures like CNN and Transformer models,…
Teleoperation is a key paradigm for transferring human dexterity to robots, yet most prior work targets objects that are initially static, such as grasping or manipulation. Dynamic object catch, where objects move before contact, remains…