Robotic teleoperators introduce novel electromechanical dynamics between the user and the environment. While considerable effort has focused on minimizing these dynamics, we lack a robust understanding of their impact on user task performance across ...
Humans rely on multiple senses to understand their surroundings, and so do robots. Current research in haptic object classification focuses on visual-haptic methods, but faces limitations in performance and dataset size. Unlike images, text does not ...
Currently, most tactile-based object recognition algorithms focus on single shape or texture recognition. However, these single attribute-based recognition methods perform poorly when dealing with objects with similar shape or texture characteristics...
This study addresses the challenges of Programming by Demonstration (PbD) in the context of collaborative robots, focusing on the need to provide additional degrees of programming without hindering the user's ability to demonstrate trajectories. The ...
Fully autonomous vehicles, capable of completing entire end-to-end journeys without the interference of a human driver, will be one of the biggest transforming technologies of the next decades. As the journey towards fully autonomous vehicles progres...
Robot-assisted endovascular intervention has the potential to reduce radiation exposure to surgeons and enhance outcomes of interventions. However, the success and safety of endovascular interventions depend on surgeons' ability to accurately manipul...
Haptic temporal signal recognition plays an important supporting role in robot perception. This paper investigates how to improve classification performance on multiple types of haptic temporal signal datasets using a Transformer model structure. By ...
Semi-passive rehabilitation robots resist and steer a patient's motion using only controllable passive force elements (e.g., controllable brakes). Contrarily, passive robots use uncontrollable passive force elements (e.g., springs), while active robo...
The Time Domain Passivity Approach (TDPA) has been accepted as one of least conservative tools for designing stabilizing controllers in haptics and teleoperation, but it still suffers from conservatism because it is based on passivity. Additionally, ...
Model-Mediated Teleoperation (MMT) between a haptic device and a remote or virtual environment uses a local model of the environment to compensate for latency of communication. MMT is often case-specific, and requires underlying latency distributions...