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Aran Sena

5 accepted papers

2023

Towards Human-Robot Collaborative Surgery: Trajectory and Strategy Learning in Bimanual Peg Transfer

Zhaoyang Jacopo Hu, Ziwei Wang, Yanpei Huang, Aran Sena, Ferdinando Rodriguez y Baena, Etienne Burdet
RA-L 2023

While the traditional control of surgical robots relies on fully manual teleoperations, human-robot collaborative systems promise to address issues such as workspace constrains and laborious tasks. In particular, shared control can reduce the surgeon's workload and improve the overall surgical perfo

Cited by 26Source ↗Scholar ↗
2019

Improving Task-Parameterised Movement Learning Generalisation with Frame-Weighted Trajectory Generation

Aran Sena, Brendan Michael, Matthew Howard
IROS 2019poster

Learning from Demonstration depends on a robot learner generalising its learned model to unseen conditions. Generally, it is not feasible for a person to provide demonstrations that account for all possible variations in non-trivial tasks. While there are many learning methods that can handle interp…

Cited by 26Source ↗Scholar ↗
2018

A Framework for Teaching Impedance Behaviours by Combining Human and Robot ‘Best Practice’

Yuchen Zhao, Aran Sena, Fan Wu, Matthew J. Howard
IROS 2018poster

This paper presents a programming by demonstration framework for teaching impedance modulation using human demonstrations. Physiologically, human stiffness and damping are coupled at the muscle level, restricting the ability to modulate impedance according to task demands. Robotic systems often do n…

Cited by 3Source ↗Scholar ↗