23 accepted papers
Despite their practical success, it remains unclear why Mixture of Experts (MoE) models can outperform dense networks beyond sheer parameter scaling. We study an iso-parameter regime where inputs exhibit latent modular structure but are corrupted by feature noise, a proxy for noisy internal activati…
The complex motion modes of surface microwalkers rely on magnetic torque generated by rotating/oscillating magnetic fields. Actuation systems based on rotating permanent magnets exhibit considerable advantages in generating these dynamic fields due to their high flexibility. However, current omnidir
The zero-shot retrieval task aims to retrieve the most relevant documents to a user’s query without relevance labels. Current approaches expand input queries by generating pseudo-documents with large language models (LLMs) and perform document retrieval based on the expanded queries. However, their…
In this work, we present STOPNet, a framework for 6-DoF object suction detection on production lines, with a focus on but not limited to transparent objects, which is an important and challenging problem in robotic systems and modern industry. Current methods requiring depth input fail on transparen…
Recent advancements toward perception and decision-making of flexible endoscopes have shown great potential in computer-aided surgical interventions. However, owing to modeling uncertainty and inter-patient anatomical variation in flexible endoscopy, the challenge remains for efficient and safe navi…
This letter reports a soft and scalable crawling robot that can actively adapt to flat planes and tubes without manual adjustment. The robot is mainly composed of a programmable origami body and two flexible electrostatic pads with a measured thickness of around 34 μm. The pad generates considerable
Estimating precise metric depth and scene reconstruction from monocular endoscopy is a fundamental task for surgical navigation in robotic surgery. However, traditional stereo matching adopts binocular images to perceive the depth information, which is difficult to transfer to the soft robotics-base…
This letter presents a bioinspired composite finger with self-locking joints that can perform long-time and high-load (27.8 N) grasping tasks with low power consumption. Inspired by the ratchet wrench, the self-locking joint includes a ratchet mechanism to provide a large grip force for the finger t
Continuum manipulators with structural compliance can be utilized to steer a laser beam in constrained environments. However, the flexibility and nonlinear characteristics of continuum manipulators bring difficulty in precision manipulation. This study proposes a model-free control approach with vis
Automated microinjection systems for suspension cells have been studied for years. Nevertheless, microinjection systems for adherent cells still suffer from laborious manual operations and low productivity. This paper presents a new automated microinjection system with high productivity for adherent
The use of microrobots to achieve micromanipulation in vivo has attracted considerable attention in recent years to meet the request of non-invasiveness, precision and high efficiency in medical treatment. This letter reports the use of a home-designed electromagnetic manipulation system to control
Intracellular surgery suffers from a low success rate due to the lack of three-dimensional (3-D) position feedback of selected organelles. In this study, we developed a novel robot-aided microscopy system and 3-D reconstruction algorithm to conduct intracellular surgery with 3-D information. A serie
Introducing alterations in the mtDNA sequence is challenging but needed for potential therapies and basic studies. Direct microinjection of mitochondria into small cells has been considered inefficient and impractical. To address this issue, we present a highly efficient and precise robotic approach…
Animals in nature, such as geckos, inchworms, and felines can climb on various surfaces using different mechanisms and serve as references for the study of bio-inspired robots. This paper presents an inchworm-inspired climbing robot that consists of soft body and feet. The soft robot is actuated by…
This paper presents the development of a fish-like magnetically propelled microswimmer fabricated by 3D laser lithography. The microswimmer consists of a head and a caudal fin, just like a natural fish. There is a joint between the head and the fin so that the caudal fin can oscillate around the hea…
Flexible continuum robots have exhibited unique advantages in working in an unstructured environment. Many applications require robots to actively control the deformation of soft objects, such as soft tissues in surgery. Thus, this study presents a robust model-predictive deformation control of a so…
In this paper, we present a precise robot-aided single-cell surgery system to perform single-cell biopsy for cells <25 μm in diameter. A microfluidic chip is designed to arrange upto 100 individual cells in an array. A micropipette mounted onto a 3-DOF micromanipulator and a computer mouse-operated…
Electromagnetically actuated microparticles can be widely applied in the field of biomedicine, for its advantages of minimally invasive feature and approachability to complex microenvironments. In this paper, we propose a robust feedback control approach for precise 3D manipulation of a microparticl…
As the rapid development of precision medicine, in-vivo manipulation of micro/nano-scaled particles has attracted increasing attention in recent years. The collision is one of the main reasons that falls the in-vivo particle transportation fail. In this paper, we develop an in-vivo cell transportati…
As rapid development of precision medicine, in vivo manipulation of micro/nano-scaled particles have attracted increasing attention in recent years. To accommodate complex in-vivo environment, robot-aided automated manipulation technology is highly demanded in trapping and controlling micro/nano-par…
Precise manipulation of microparticles has received considerable attention for its great potential applications to clinical medicine. Among the existing manipulation techniques, the method of magnetic force based manipulation exhibits great advantages for its minimally-invasive feature and insensiti…
Optical tweezers has become a powerful tool in automated cell transportation control and has been used in a variety of biological applications. The use of optical tweezers for cell surgery has great potential for various biomedical applications such as microinjection, organelle extraction and modifi…
Transportation manipulation of biological cells, where cells are required to move into a fixed or moving region, has recently attracted increasing attention in bioscience and nanomedicine. Currently, the multicell transportation in practical applications is implemented manually, with low precision a…