6 accepted papers
This paper provides a systemic method for continuously identifying human joint impedance parameters during physical interaction with a robotic system without the need for external sensors. To this end, several identification methods combining payload identification methods with online identification
The identification of human joint impedance is necessary for various applications, such as improving rehabilitation efficiency or monitoring the human operator's state (fatigue, stress). To this end, in this paper we combine robot's payload identification methods with sliding window recursive least…
Needle insertion procedures can greatly benefit from robotic systems to improve their accuracy and success rate. However, a fully automated system is usually not desirable and the clinicians need to be included in the control loop. In this paper we present a teleoperation framework for beveledtip fl…
Needle insertion procedures under ultrasound guidance are commonly used for diagnosis and therapy. It is often critical to accurately reach a targeted region, and this can be difficult to achieve due to intraoperative tissue motion. In this letter, we present a method to steer a beveled-tip flexible
Works on robotic needle steering often consider either tip-based control of flexible beveled tip needles or control of the bending of symmetric tip needles. In this paper a control law for needle steering which uses both direct manipulation of the needle base and the control of the tip deflection, i
With the increasing number of clinical interventions using needle shaped tools, robotic control of needle insertion procedures has been an active research field for many years. In this work we propose a 3D model of a flexible needle that takes into account tissue deformations in order to predict the…