相关论文: A stiffness sensor to help in the diagnosis and th…
High-speed machinery is often designed to pass several $"$critical$"$ speeds, where vibration levels can be very high. To reduce vibrations, rotors usually undergo a mass balancing process, where the machine is rotated at its full speed…
Sleep posture is linked to several health conditions such as nocturnal cramps and more serious musculoskeletal issues. However, in-clinic sleep assessments are often limited to vital signs (e.g. brain waves). Wearable sensors with embedded…
Radar SLAM is robust in challenging conditions, such as fog, dust, and smoke, but suffers from the sparsity and noisiness of radar sensing, including speckle noise and multipath effects. This study provides a performance-enhanced radar SLAM…
During in-hand manipulation, robots must be able to continuously estimate the pose of the object in order to generate appropriate control actions. The performance of algorithms for pose estimation hinges on the robot's sensors being able to…
Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…
Surgical automation can improve the accessibility and consistency of life saving procedures. Most surgeries require separating layers of tissue to access the surgical site, and suturing to reattach incisions. These tasks involve deformable…
Plantar pressure measurement, or pedobarography, is an essential tool for analyzing human motion in healthy individuals and patients. Across the reviewed literature, sensor insoles are motivated as wearable, mobile solutions for assessing…
Introduction: Mechanical thrombectomy can cause vessel deformation and procedure-related injury. Benchtop models are widely used for device testing, but time-resolved, full-field 3D vessel-motion measurements remain limited. Methods: We…
Robotic ultrasound (US) imaging has been seen as a promising solution to overcome the limitations of free-hand US examinations, i.e., inter-operator variability. However, the fact that robotic US systems cannot react to subject movements…
Lower extremity amputees face challenges in natural locomotion, which is partially compensated using powered assistive systems, e.g., micro-processor controlled prosthetic leg. In this paper, a radar-based perception system is proposed to…
This paper presents a parametric stiffness analysis of the Orthoglide. A compliant modeling and a symbolic expression of the stiffness matrix are conducted. This allows a simple systematic analysis of the influence of the geometric design…
Creating haptic interfaces capable of rendering the rich sensation needed for dexterous manipulation is crucial for the advancement of human-in-the-loop telerobotic systems (HiLTS). One limiting factor has been the absence of detailed…
Impedance-based control represents a prevalent strategy in the powered trans femoral prostheses because of its ability to reproduce natural walking. However, most existing studies have developed impedance-based prosthesis controllers for…
Tracking of rotation and translation of medical instruments plays a substantial role in many modern interventions. Traditional external optical tracking systems are often subject to line-of-sight issues, in particular when the region of…
Osteoporosis, characterized by reduced bone mineral density (BMD) and compromised bone microstructure, increases fracture risk in aging populations. While dual-energy X-ray absorptiometry (DXA) is the clinical standard for BMD assessment,…
Advances in mobile computing have paved the way for the development of several health applications using smartphone as a platform for data acquisition, analysis and presentation. Such areas where mhealth systems have been extensively…
In this chapter we explore and evaluate methods for trabecular bone characterization and osteoporosis diagnosis with increased interest in sparse approximations. We first describe texture representation and classification techniques,…
High energy impacts at joint locations often generate highly fragmented, or comminuted, bone fractures. Current approaches for treatment require physicians to decide how to classify the fracture within a hierarchy fracture severity…
The lack of haptically aware upper-limb prostheses forces amputees to rely largely on visual cues to complete activities of daily living. In contrast, able-bodied individuals inherently rely on conscious haptic perception and automatic…
We propose a robotic manipulation system that can pivot objects on a surface using vision, wrist force and tactile sensing. We aim to control the rotation of an object around the grip point of a parallel gripper by allowing rotational slip,…