3 accepted papers
We propose a novel autonomous robotic palpation framework for real-time elastic mapping during tissue exploration using a viscoelastic tissue model. The method combines force-based parameter estimation using a commercial force/torque sensor with an ergodic control strategy driven by a tailored Expec
In the context of telehealth, robotic approaches have proven a valuable solution to in-person visits in remote areas, with decreased costs for patients and infection risks. In particular, in ultrasonography, robots have the potential to reproduce the skills required to acquire high-quality images wh…
This paper introduces a new method for online estimating the penetration of the end-effector and the viscoelastic properties of a soft body, through palpation exams using a collaborative robotic arm. The estimator is based on the dimensionality reduction method that simplifies the nonlinear Hunt-Cro…