Federico Campisano — accepted AI-conference papers

2020

Online Disturbance Estimation for Improving Kinematic Accuracy in Continuum Manipulators

Federico Campisano, Andria A. Remirez, Simone Caló, James Henry Chandler, Keith L. Obstein, Robert J. Webster III +1

RA-L 2020

Continuum manipulators are flexible robots which undergo continuous deformation as they are actuated. To describe the elastic deformation of such robots, kinematic models have been developed and successfully applied to a large variety of designs and to various levels of constitutive stiffness. Indep

Cited by 22 Source ↗Scholar ↗

2020

Teleoperation and Contact Detection of a Waterjet-Actuated Soft Continuum Manipulator for Low-Cost Gastroscopy

Federico Campisano, Andria A. Remirez, Claire A. Landewee, Simone Caló, Keith L. Obstein, Robert J. Webster III +1

RA-L 2020

Gastric cancer is the third leading cause of cancer deaths worldwide, with most new cases occurring in low and middle income countries, where access to screening programs is hindered by the high cost of conventional endoscopy. The waterjet-actuated HydroJet endoscopic platform was developed as a low

Cited by 19 Source ↗Scholar ↗

2017

Towards a soft robotic skin for autonomous tissue palpation

Federico Campisano, Selim Ozel, Anand Ramakrishnan, Anany Dwivedi, Nikolaos Gkotsis, Cagdas D. Onal +1

ICRA 2017poster

Manual palpation is commonly used to localize tumors and other features buried deep inside organs during open surgery. This approach is not feasible in minimally invasive or robotic surgery, as the contact with the tissue is mediated by instruments. To address this problem, we propose a soft robotic…

Cited by 26 Source ↗Scholar ↗