15 accepted papers
We propose a multimodal integration framework to enhance the precision of Vision-Language-Action (VLA) models in contact-rich robotic tasks. Although visual perception is essential for task grounding, it often lacks the force awareness required for high-precision alignment and insertion. To address …
Soft robots offer significant advantages over rigid-bodied counterparts due to their inherent flexibility and deformability. However, these same characteristics often introduce challenges in control and simulation-to-reality (Sim-to-Real) synchronization. In this study, we quantified the locomotion …
This paper proposes a control framework for a two-section, concentrically tendon-driven continuum robot. The tracking control is formulated based on a Jacobian approach using zeroing dynamics. The Jacobian is estimated online from input–output data, using applied tendon force as inputs and measured …
Accurate Wireless Magnetic Capsule (WCE) pose estimation remains a challenge for advancing minimally invasive medical procedures, because the relationship between magnetic sensor measurements and capsule pose is highly nonlinear and sensitive to noise and modeling errors, making large-scale training…
Robotic manipulators are increasingly used in diverse applications, ranging from industrial automation to human-centered tasks such as grocery picking and packaging, where they are often required to perform sequences of tasks while maintaining motion optimality and collision-free operation over long…
This study addresses the challenge of estimating the three-dimensional(3D) position of a needle tip from two-dimensional(2D) X-ray images. We propose a classical image processing–based framework for needle tip localization and 3D reconstruction. The method first detects a circular marker attached to…
Deformable objects (DOs) are prevalent in everyday environments and represent important targets for robotic manipulation. However, their high degrees of freedom and complex nonlinear deformations make them more challenging to model and control than rigid objects when relying on traditional analytica
Deformable objects(DOs) are prevalent in everyday environments and represent important targets for robotic manipulation. However, their high degrees of freedom and complex nonlinear deformations make them more challenging to model and control than rigid objects when relying on traditional analytical…
Soft fingers with multiple segments can perform various grasping modes when each segment is individually controlled, although this requires a number of inputs and leads to a complicated structure. In this paper, we propose a multi-segment soft finger capable of generating dual modes only using a sin
A cylindrical shaped marine invertebrate ascidian has muscle fibers surrounding its body, which induce the contraction motion when the animal senses the external stimuli. As inspired by its cylindrical shape and the contraction motion of the ascidian, we introduce a soft robot that resembles this wa
Three-dimensional (3-D) tracking of microrobots is demonstrated using stereo holographic projections. The method detects the lateral position of a microrobot in two orthogonal in-line holography images and triangulates to obtain the 3-D position in an observable volume of 1 cm <inline-formula xmlns:
Digital holography is used to track the three-dimensional position of a magnetic microrobot maneuvered in real time by means of an electromagnetic manipulation system. The method presented is able to process holograms at 40 Hz with a position accuracy in the imaging plane and in depth of <inline-for
A magnetic-tip steerable needle is presented with application to aiding deep brain stimulation electrode placement. The magnetic needle is 1.3mm in diameter at the tip with a 0.7mm diameter shaft, which is selected to match the size of a deep brain stimulation electrode. The tip orientation is contr
This paper presents a method to localize a magnetically guided catheter using a single rotating C-Arm. Because the three dimensional position of the catheter tip, when extracted from a single view, contains large uncertainties, we propose to combine multiple views by rotating the C-Arm and using a K…