5 accepted papers
This paper presents a novel approach for time-optimal path parameterization based on reachability analysis for robotic systems with viscous friction in the dynamics and jerk constraints. The main step of the method is the backward propagation of controllable sets through a linear second-order system
Dynamic Movement Primitives (DMPs) are a well-known tool for encoding robotic motions. Their popularity stems from invariance properties in time and space, the ability to describe complex coordinated motions in multiple degrees of freedom with a relatively small number of parameters, and the lineari…
Teleoperation systems could benefit from force sensory substitution when kinesthetic force feedback systems are too bulky or expensive, and when they cause instability by magnifying force feedback. We aim to magnify force feedback using sensory substitution via force-controlled tactile skin deformat…
Hands-on training is an indispensable part of surgical practice. As the tools used in the operating room become more intricate, the demand for efficient training methods increases. This work proposes a robotic assistance-as-needed method for training with surgical teleoperated robots. The method ada…
Haptically enabled hands-on or tele-operated surgical robotic systems provide a unique opportunity to integrate pre- and intra-operative information into physical actions through active constraints (also known as virtual fixtures). In many surgical procedures, including cardiac interventions, where…