Minimally invasive surgery (MIS) is commonly used in some robotic-assisted surgery (RAS) systems. However, many RAS lack the strength and tactile sensation of surgical tools. Therefore, researchers have developed various force sensing techniques in r...
The value of intrinsic energetic behavior of human biomechanics has recently been recognized and exploited in physical human-robot interaction (pHRI). The authors have recently proposed the concept of "Biomechanical Excess of Passivity," based on non...
This paper evaluates the role and effectiveness of different types of haptic feedback in presenting relevant feedback information during needle insertion in soft tissues through a remotely operated robot. We carried out three experiments with human s...
Bimanual object manipulation involves using both hands to interact with objects in the environment, and the process requires the central nervous system to process sensory feedback and translate it into motor commands. Although there have been signifi...
We present a novel soft exoskeleton providing active support for hand closing and opening. The main novelty is a different tendon routing, folded laterally on both sides of the hand, and adding clenching forces when the exoskeleton is activated. It i...
Shared control, which permits a human operator and an autonomous controller to share the control of a telerobotic system, can reduce the operator's workload and/or improve performances during the execution of tasks. Due to the great benefits of combi...
Series elastic actuation (SEA) is an interaction control paradigm that relies on a compliant force sensing element and utilizes the model of this compliant dynamics in closed-loop force control. We present sufficient conditions for passivity of SEA u...
Data-driven approaches are commonly used to model and render haptic textures for rigid stylus-based interaction. Current state-of-the-art data-driven methodologies synthesize acceleration signals through the interpolation of samples with different in...
Wearable devices with bimanual force feedback enable natural and cooperative manipulations within an unrestricted space. Weight and cost have a great influence on the potential applications of a haptic device. This paper presents a wearable robotic i...
Efficient and low-delay exchange of hapticinformation plays a key role for the design of high-fidelity teleoperation systems that operate over real-world communication networks. In the presence of communication unreliabilities such as delay and packe...