7 accepted papers
Robotic manipulation, especially of fragile and irregularly shaped objects, remains a significant challenge due to the need for both adaptability and precise tactile feedback. In this work, we introduce INTACT-GRIP, a robotic gripper that combines soft manipulation and high-resolution tactile sensin…
Inspired by the design of Vision-based Tactile Sensors (VTSs) and soft resistive strain sensors, in this paper, we introduce MINT: a vision-based soft sensor for Mutual Integration of Normal interaction force and Texture perception. MINT is a hybrid vision-based tactile sensor that simultaneously in…
In this study, we introduce a simulation-based modeling framework for the optimal design of our recently developed inflatable endoscopic vision-based tactile sensing balloon (E-VTSB). Of note, E-VTSB is designed for providing a safe and high-resolution textural mapping and morphology characterizatio
In this paper, with the goal of enhancing the safety of current colonoscopic procedures and providing the pressure and location of the contact between the colonoscope and the colon’s surface, we propose design and development of a unique Soft Pressure Sensing Sleeve (SPSS). SPSS can seamlessly be in…
This paper proposes a smart handheld textural sensing medical device with complementary Machine Learning (ML) algorithms to enable on-site Colorectal Cancer (CRC) polyp diagnosis and pathology of excised tumors. The proposed unique handheld edge device benefits from a unique tactile sensing module a…
In this paper, with the goal of addressing the high early-detection miss rate of colorectal cancer (CRC) polyps during a colonoscopy procedure, we propose the design and fabrication of a unique inflatable vision-based tactile sensing balloon (VTSB). The proposed soft VTSB can readily be integrated w…
This study proposes a novel diagnosis framework to decrease the early detection miss rate of colorectal cancer (CRC) polyps by using a hypersensitive vision-based tactile sensor (HySenSe) and a deep residual neural network. The HySenSe generates high-resolution 3D textural images of 160 realistic po…