Human skin can sense subtle changes of both normal and shear forces (i.e., self-decoupled) and perceive stimuli with finer resolution than the average spacing between mechanoreceptors (i.e., super-resolved). By contrast, existing tactile sensors for ...
Human-Robot Collaboration (HRC) has been widely used in daily life and industry for maximizing the advantages of humans and robots, respectively. However, the internal modeling errors or external perturbations still affect robotic systems such as hum...
Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
Jul 1, 2020
A novel palpation-based tumor detection method for robot-assisted minimally invasive surgery (RMIS) is proposed in this paper. A tactile stiffness sensor based on piezoelectric vibration is designed to detect tissue stiffness just by gentle contactin...
Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
Jul 1, 2019
Remote manipulation in robotized percutaneous procedures can offer increased safety to radiologists as well as patients. Providing feedback to the radiologist on needle-tissue interactions is however mandatory in addition to the medical images. A tac...
IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Jun 1, 2019
Motivation plays a crucial role in motor learning and neurorehabilitation. Participants' motivation could decline to a point where they may stop training when facing a very difficult task. Conversely, participants may perform well and consider the tr...
IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Jun 1, 2019
Soft robotic fingers have shown great potential for use in prostheses due to their inherent compliant, light, and dexterous nature. Recent advancements in sensor technology for soft robotic systems showcase their ability to perceive and respond to st...
The emulation of the tactile sense is presented with the encoding of a complex surface texture through an electrical sensor device. To achieve a functional capability comparable to a human mechanoreceptor, a tactile sensor is designed by employing a ...
IEEE transactions on biomedical circuits and systems
Apr 1, 2018
Despite significant advances in computational algorithms and development of tactile sensors, artificial tactile sensing is strikingly less efficient and capable than the human tactile perception. Inspired by efficiency of biological systems, we aim t...