相关论文: A stiffness sensor to help in the diagnosis and th…
General robot manipulation requires the handling of previously unseen objects. Learning a physically accurate model at test time can provide significant benefits in data efficiency, predictability, and reuse between tasks. Tactile sensing…
Ophthalmic surgical robots offer superior stability and precision by reducing the natural hand tremors of human surgeons, enabling delicate operations in confined surgical spaces. Despite the advancements in developing vision- and…
Scoliosis, a prevalent condition characterized by abnormal spinal curvature leading to deformity, requires precise assessment methods for effective diagnosis and management. The Cobb angle is a widely used scoliosis quantification method…
Assistive robots for healthcare have seen a growing demand due to the great potential of relieving medical practitioners from routine jobs. In this paper, we investigate the development of an optimization-based control framework for an…
Purpose: Intraoperative ultrasound scanning is a demanding visuotactile task. It requires operators to simultaneously localise the ultrasound perspective and manually perform slight adjustments to the pose of the probe, making sure not to…
An overview of the applications of control theory to prosthetic sense organs including the senses of vision, taste and odor is being presented in this paper. Simulation aspect nowadays has been the centre of research in the field of…
The increased need in pointing performance for Earth observation and science Space missions together with the use of lighter and flexible structures directly come with the need of a robust pointing performance budget from the very beginning…
This paper presents a motion analysis framework for an athlete wearing sport-specific flexible prosthesis based on the soft-rigid hybrid-link system. Such a motion analysis is a challenging problem because we need to consider the…
Significant progress has been made for assessing the influence of porosity on the performance metrics for cast components through various modeling techniques. However, a computationally efficient framework to account for porosity with…
The tactile properties of tissue, such as elasticity and stiffness, often play an important role in surgical oncology when identifying tumors and pathological tissue boundaries. Though extremely valuable, robot-assisted surgery comes at the…
In previous work, the authors proposed a data-driven optimisation algorithm for the personalisation of human-prosthetic interfaces, demonstrating the possibility of adapting prosthesis behaviour to its user while the user performs tasks…
The so-called indentation stiffness tomography technique for detecting the interior mechanical properties of an elastic sample with an inhomogeneity is analyzed in the framework of the asymptotic modeling approach under the assumption of…
This paper proposes new practical design tools for the robust motion control systems based on disturbance observer (DOB). Although DOB has long been used in several motion control applications, it has insufficient analysis and design tools.…
Internal fixation is a common orthopedic procedure in which a rigid screw is used to fix fragments of a fractured bone together and expedite the healing process. However, the rigidity of the screw, geometry of the fractured anatomy (e.g.…
This paper presents an algorithm for the preprocessing of observation data aimed at improving the robustness of orbit determination tools. Two objectives are fulfilled: obtain a refined solution to the initial orbit determination problem…
Many keyhole interventions rely on bi-manual handling of surgical instruments, forcing the main surgeon to rely on a second surgeon to act as a camera assistant. In addition to the burden of excessively involving surgical staff, this may…
This paper presents a first evaluation of the feasibility of Finite Element modelling of the orbital decompression, in the context of exophthalmia. First simulations are carried out with data extracted from a patient TDM exam. Results seem…
Our research investigates vibrotactile perception in four prosthetic hands with distinct kinematics and mechanical characteristics. We found that rigid and simple socket-based prosthetic devices can transmit tactile information and…
In a companion article, we discussed the radiometric sensitivity and resolution of a new passive optical sensing technique, Space-Time Projection Optical Tomography (SPOT), to detect and track sub-cm and larger space debris for Space…
In the domain of Space Situational Awareness (SSA), the challenges pertaining to orbit determination and catalog correlation are notably pronounced, partly attributable to the escalating presence of non-cooperative satellites engaging in…