Peter Walker Ferguson — accepted AI-conference papers

2022

Suppressing Delay-Induced Oscillations in Physical Human-Robot Interaction with an Upper-Limb Exoskeleton using Rate-Limiting

Jianwei Sun, Peter Walker Ferguson, Jacob Rosen

IROS 2022poster

In physical human-robot interaction (pHRI) enabled by admittance control, delay-induced oscillations arising from both the neuromuscular time-delays of the human and electromechanical delays of the robot can cause unsafe instability in the system. This study presents and evaluates rate-limiting as a…

Cited by 4 Source ↗Scholar ↗

2019

Autonomous Tissue Manipulation via Surgical Robot Using Learning Based Model Predictive Control

Changyeob Shin, Peter Walker Ferguson, Sahba Aghajani Pedram, Ji Ma, Erik P. Dutson, Jacob Rosen

ICRA 2019poster

Tissue manipulation is a frequently used fundamental subtask of any surgical procedures, and in some cases it may require the involvement of a surgeon's assistant. The complex dynamics of soft tissue as an unstructured environment is one of the main challenges in any attempt to automate the manipula…

Cited by 143 Source ↗Scholar ↗