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The increasing need for sharing workspace and interactive physical tasks between robots and humans has raised concerns regarding safety of such operations. In this regard, controllable clutches have shown great potential for addressing…
Teleoperation for contact-rich manipulation remains challenging, especially when using low-cost, motion-only interfaces that provide no haptic feedback. Virtual reality controllers enable intuitive motion control but do not allow operators…
Augmenting randomized controlled trials (RCTs) with external real-world data (RWD) has the potential to improve the finite sample efficiency of treatment effect estimators. We describe using adaptive targeted maximum likelihood estimation…
An autonomous robotic nut tightening system for a serial manipulator equipped with a parallel gripper is proposed. The system features a hierarchical motion-primitive-based planner and a control-switching scheme that alternates between…
In contemporary training for industrial manufacturing, reconciling theoretical knowledge with practical experience continues to be a significant difficulty. As companies transition to more intricate and technology-oriented settings,…
In the Architecture, Engineering and Construction (AEC) sector, data extracted from building information modelling (BIM) can be used to create a digital twin (DT). The algorithms of a BIM-based DT can facilitate the retrieval of…
The purpose of this research is to design, fabricate and test a tendon driven a continuum soft robot with three modular segments, each of which has a tunable stiffness enabled by layer jamming technology. Compared with previous studies, the…
Adjusting to amputation can often time be difficult for the body. Post-surgery, amputees have to wait for up to several months before receiving a properly fitted prosthesis. In recent years, there has been a trend toward quantitative…
Robots are now increasingly integrated into various real world applications and domains. In these new domains, robots are mostly employed to improve, in some ways, the work done by humans. So, the need for effective Human-Robot Teaming…
In percutaneous orthopedic interventions the surgeon attempts to reduce and fixate fractures in bony structures. The complexity of these interventions arises when the surgeon performs the challenging task of navigating surgical tools…
Robot-assisted surgery has become progressively more and more popular due to its clinical advantages. In the meanwhile, the artificial intelligence and augmented reality in robotic surgery are developing rapidly and receive lots of…
Alignment between real and virtual objects is a challenging task required for the deployment of Mixed Reality (MR) into manufacturing, medical, and construction applications. To face this challenge, a series of methods have been proposed.…
This dissertation advances the state of the art for AR/VR tracking systems by increasing the tracking frequency by orders of magnitude and proposes an efficient algorithm for the problem of edge-aware optimization. AR/VR is a natural way of…
Surgical suturing is a high-precision task that impacts patient healing and scarring. Suturing skill varies widely between surgeons, highlighting the need for robot assistance. Previous robot suturing works, such as STITCH 1.0 [1], struggle…
The utilization of teleoperation is a crucial aspect of the construction industry, as it enables operators to control machines safely from a distance. However, remote operation of these machines at a joint level using individual joysticks…
Antagonistic artificial muscles can decouple joint torque and stiffness, but contact transients often degrade this independence. We present a unified real-time framework applicable across pneumatic, electrohydraulic, and dielectric…
Wire bending is a technique used in manufacturing to mass-produce items such as clips, mounts, and braces. Recent advances in programmable wire bending have made this process increasingly accessible for custom fabrication. However, CNC wire…
Most successes in robotic manipulation have been restricted to single-arm robots, which limits the range of solvable tasks to pick-and-place, insertion, and objects rearrangement. In contrast, dual and multi arm robot platforms unlock a…
Additive manufacturing (AM) techniques have been used to enhance the design and fabrication of complex components for various applications in the medical, aerospace, energy, and consumer products industries. A defining feature for many AM…
Operating robots precisely and at high speeds has been a long-standing goal of robotics research. Balancing these competing demands is key to enabling the seamless collaboration of robots and humans and increasing task performance. However,…