7 accepted papers
Over the past two decades, numerous hand exoskeletons have been developed for rehabilitation scenarios, yet very few have the capability to assess spasticity. This paper introduces a quantitative assessment approach for hand spasticity developed on a cable-driven hand exoskeleton that was specifical
The estimation of the 6D pose of industrial components is essential for smart manufacturing. Especially for complex units that require intensive manual operations, such as a concentrator photovoltaics solar panel, accurate spatial localization provides visual aids for industrial automation. In this…
Despite the potential of mobile manipulators and applications where robots require a force-controlled physical interaction with the environment, the majority of robot automation nowadays is still based on fixed manipulators for free-motion tasks (e.g. welding, pick and place, or painting). In this w…
The analysis, design, and motion planning of robotic systems, often relies on its forward and inverse dynamic models. When executing a task involving interaction with the environment, both the task and the environment impose constraints on the robots motion. For modeling such systems, we need to in…
Assessment of minimally invasive surgical skills is a non-trivial task, usually requiring the presence and time of expert observers, including subjectivity and requiring special and expensive equipment and software. This study develops an algorithm for tracking laparoscopy instruments in the video c…
In this letter we present a control and trajectory tracking approach for wiping the train cab front panels, using a velocity controlled robotic manipulator and a force/torque sensor attached to its end effector, without using any surface model or vision-based surface detection. The control strategy
This paper presents measurements of human hand-impedance during a laparoscopic training program with physically interactive robotic manipulators. The knowledge of how the hand-impedance changes due to training might be useful to inform better training programs and to introduce co-manipulated robotic…