相关论文: Tendon-Actuated Concentric Tube Endonasal Robot (T…
Robotic technologies are becoming increasingly popular in dentistry due to the high level of precision required in delicate dental procedures. Most dental robots available today are designed for implant surgery, helping dentists to…
Flexible endoscopes are commonly adopted in narrow and confined anatomical cavities due to their higher reachability and dexterity. However, prolonged and unintuitive manipulation of these endoscopes leads to an increased workload on…
Magnetic continuum robots (MCRs) enable minimally invasive navigation through tortuous anatomical channels, yet axially magnetized designs have largely been limited to bending-only motion. To expand deformation capabilities, this paper…
DeltaCharger is a novel charging robot with an Inverted Delta structure for 3D positioning of electrodes to achieve robust and safe transferring energy between two mobile robots. The embedded high-fidelity tactile sensors allow to estimate…
Manipulating fragile deformable containers, such as disposable plastic cups filled with liquid, demands real-time grip-force adaptation within an extremely narrow force margin: insufficient force causes slip, while excessive force…
Robotic manipulation in unstructured environments requires end-effectors that combine high kinematic dexterity with physical compliance. While traditional rigid hands rely on complex external sensors for safe interaction, electrohydraulic…
Learning from demonstrations has shown to be an effective approach to robotic manipulation, especially with the recently collected large-scale robot data with teleoperation systems. Building an efficient teleoperation system across diverse…
Recent advances in teleoperation have enabled sophisticated manipulation of dexterous robotic hands, with most systems concentrating on guiding finger positions to achieve desired grasp configurations. However, while accurate finger…
Colonoscopy is considered the golden standard for cancer screening of the lower gastrointestinal (GI) tract, with screening programs all over the world considering lowering the recommended screening age. Nonetheless, conventional…
Remote robotic-assisted endovascular intervention offers a promising approach to reduce clinician radiation exposure and physical strain, while extending specialized vascular care to geographically distant regions. Despite advancements,…
Natural organisms utilize distributed actuation through their musculoskeletal systems to adapt their gait for traversing diverse terrains or to morph their bodies for varied tasks. A longstanding challenge in robotics is to emulate this…
The control of robotic systems in complex, shared collaborative workspaces presents significant challenges in achieving robust performance and safety when learning from experienced or simulated data is employed in the pipeline. A primary…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
Continuum robots enable dexterous manipulation in constrained environments, but require accurate and efficient models for real-time manipulation and control. Traditional physics-based models can be computationally expensive and may suffer…
We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose…
The potential diagnostic applications of magnet-actuated capsules have been greatly increased in recent years. For most of these potential applications, accurate position control of the capsule have been highly demanding. However, the…
Endovascular technique has many advantages but relies strongly on operator skills and experience. Robotically steerable catheters have been developed but few are clinically available. We describe here the development of an active and…
Robot-assisted ultrasound scanning promises to advance autonomous and accessible medical imaging. However, ensuring patient safety and compliant human-robot interaction (HRI) during probe contact poses a significant challenge. Most existing…
Flexible endoscope motion tracking and analysis in mechanical simulators have proven useful for endoscopy training. Common motion tracking methods based on electromagnetic tracker are however limited by their high cost and material…
Many studies have been conducted on Series Elastic Actuators (SEA) for robot joints because they are effective in terms of flexibility, safety, and energy efficiency. The ability of SEA to robustly handle unexpected disturbances has raised…