Certain tele-manipulation tasks require manipulation by two asymmetric slaves, for example, a crane for hoisting and a dexterous robotic arm for fine manipulation. It is unclear how to best design human-in-the-loop control over two asymmetric slaves....
Collaborative power amplifying robots are accepted as one solution to overcome flexibility and ergonomic issues in future work and life scenarios. The handling of various sized and weighted objects in heterogeneous environments pose a particular chal...
Many tasks involve the fine manipulation of objects despite limited visual feedback. In such scenarios, tactile and proprioceptive feedback can be leveraged for task completion. We present an approach for real-time haptic perception and decision-maki...
Surgeons routinely perform surgery with noisy, sub-threshold, or obscured visual and haptic feedback, either due to the necessary surgical approach, or because the systems on which they are operating are exceedingly delicate. Technological solutions ...
Robotic-assisted minimally invasive surgeries have gained a lot of popularity over conventional procedures as they offer many benefits to both surgeons and patients. Nonetheless, they still suffer from some limitations that affect their outcome. One ...
When humans are asked to palpate a soft tissue to locate a hard nodule, they regulate the stiffness, speed, and force of the finger during examination. If we understand the relationship between these behavioral variables and haptic information gain (...
The lack of haptic feedback in robotics-assisted surgery can result in tissue damage or accidental tool-tissue hits. This paper focuses on exploring the effect of haptic feedback via direct force reflection and visual presentation of force magnitudes...
Abnormality of sensorimotor integration in the basal ganglia and cortex has been reported in the literature for patients with task-specific focal hand dystonia (FHD). In this study, we investigate the effect of manipulation of kinesthetic input in pe...
This paper presents a haptic assistance strategy for teleoperation that makes a task and situation-specific compromise between improving tracking performance or human-machine interaction in partially structured environments via the scheduling of the ...
This study provides a synthetic viewpoint that compares, contrasts, and draws commonalities for biomimetic perception over a range of tactile sensors and tactile stimuli. Biomimetic active perception is formulated from three principles: (i) evidence ...