3 accepted papers
Robots must cost less and be force-controlled to enable widespread, safe deployment in unconstrained human environments. We propose Quasi-Direct Drive actuation as a capable paradigm for robotic force-controlled manipulation in human environments at low-cost. Our prototype - Blue - is a human scale…
Parallel-jaw robot grippers can grasp almost any object and are ubiquitous in industry. Although the shape, texture, and compliance of gripper jaw surfaces affect grasp robustness, almost all commercially available grippers provide a pair of rectangular, planar, rigid jaw surfaces. Practitioners oft…
For supervised automation of multi-throw suturing in Robot-Assisted Minimally Invasive Surgery, we present a novel mechanical needle guide and a framework for optimizing needle size, trajectory, and control parameters using sequential convex programming. The Suture Needle Angular Positioner (SNAP) r