相关论文: MiDAS: A Multimodal Data Acquisition System and Da…

Detecting and interpreting operator actions, engagement, and object interactions in dynamic industrial workflows remains a significant challenge in human-robot collaboration research, especially within complex, real-world environments.…

Minimally invasive surgery is highly operator dependant with a lengthy procedural time causing fatigue to surgeon and risks to patients such as injury to organs, infection, bleeding, and complications of anesthesia. To mitigate such risks,…

This paper presents the development and assessment of a teleoperation framework for robot-assisted minimally invasive surgery (MIS). The framework leverages our novel integration of an adaptive remote center of motion (RCM) using admittance…

Surgical tool segmentation in endoscopic images is the first step towards pose estimation and (sub-)task automation in challenging minimally invasive surgical operations. While many approaches in the literature have shown great results…

Robust multisensor fusion of multi-modal measurements such as IMUs, wheel encoders, cameras, LiDARs, and GPS holds great potential due to its innate ability to improve resilience to sensor failures and measurement outliers, thereby enabling…

In this work, we propose a new approach that combines data from multiple sensors for reliable obstacle avoidance. The sensors include two depth cameras and a LiDAR arranged so that they can capture the whole 3D area in front of the robot…

Surgical robotic systems equipped with microscale, high-dexterity manipulators have shown promising results in minimally invasive surgery (MIS). One barrier to the widespread adoption of such systems is the prohibitive cost of research and…

This paper addresses the scarcity of affordable, fully-actuated five-fingered hands for dexterous teleoperation, which is crucial for collecting large-scale real-robot data within the "Learning from Demonstrations" paradigm. We introduce…

Human skin acts as a dynamic biomechanical interface that conveys critical physiological and behavioural information through spatiotemporally distributed deformations. Due to the limited capabilities of current sensing technologies, the…

Dynamic hand gestures play a pivotal role in assistive human-robot interaction (HRI), facilitating intuitive, non-verbal communication, particularly for individuals with mobility constraints or those operating robots remotely. Current…

Object slip perception is essential for mobile manipulation robots to perform manipulation tasks reliably in the dynamic real-world. Traditional approaches to robot arms' slip perception use tactile or vision sensors. However, mobile robots…

We explore new aspects of assistive living on smart human-robot interaction (HRI) that involve automatic recognition and online validation of speech and gestures in a natural interface, providing social features for HRI. We introduce a…

Recent progress in Medical Artificial Intelligence (AI) has delivered systems that can reach clinical expert level performance. However, such systems tend to demonstrate sub-optimal "out-of-distribution" performance when evaluated in…

High cost and lack of reliability has precluded the widespread adoption of dexterous hands in robotics. Furthermore, the lack of a viable tactile sensor capable of sensing over the entire area of the hand impedes the rich, low-level…

Clinical diagnosis is a highly specialized discipline requiring both domain expertise and strict adherence to rigorous guidelines. While current AI-driven medical research predominantly focuses on knowledge graphs or natural text…

In this paper, we study data-aided sensing (DAS) for a system consisting of a base station (BS) and a number of nodes, where the BS becomes a receiver that collects measurements or data sets from the nodes that are distributed over a cell.…

Seismic sensing has emerged as a promising solution for border surveillance and monitoring; the seismic sensors that are often buried underground are small and cannot be noticed easily, making them difficult for intruders to detect, avoid,…

This paper presents a multimodal indoor odometry dataset, OdomBeyondVision, featuring multiple sensors across the different spectrum and collected with different mobile platforms. Not only does OdomBeyondVision contain the traditional…

Wearable robotic hand rehabilitation devices can allow greater freedom and flexibility than their workstation-like counterparts. However, the field is generally lacking effective methods by which the user can operate the device: such…

Retinal microsurgery is a high-precision surgery performed on an exceedingly delicate tissue. It now requires extensively trained and highly skilled surgeons. Given the restricted range of instrument motion in the confined intraocular…