5 accepted papers
Tactile manipulation is a prominent and growing field where most research focuses on developing generalized manipulation policies. However, tactile execution monitoring - the ability to reliably evaluate manipulation at the skill level - is often overlooked, despite being critical for unsupervised d…
Ensuring the sterility of medical equipment, particularly endoscopes used in environments teeming with diverse pathogens and drug-resistant bacteria, is crucial for safe medical procedures. However, the complexity of endoscope reprocessing, which involves numerous dexterous manual manipulations, pos
Sophisticated manipulation requires both compliance and accuracy. While tactile robots excel at being compliant, their accuracy is often inadequate for complex manipulation. Contact-rich assembly tasks, such as the insertion and manipulation of objects with small tolerances pose an enormous challeng…
The current crisis surrounding the COVID-19 pandemic demonstrates the amount of responsibility and the workload on our healthcare system and, above all, on the medical staff around the world. In this work, we propose a promising approach to overcome this problem using robot-assisted telediagnostics,
In this paper we apply a multi-level structure to robotic manipulation learning. It consists of a hybrid dynamical system we denote skill and a parameter learning layer that leverages the underlying structure to simplify the problem at hand. For the learning layer we introduce a novel algorithm base