Selim Ozel — accepted AI-conference papers

2017

Towards a soft robotic skin for autonomous tissue palpation

Federico Campisano, Selim Ozel, Anand Ramakrishnan, Anany Dwivedi, Nikolaos Gkotsis, Cagdas D. Onal +1

ICRA 2017poster

Manual palpation is commonly used to localize tumors and other features buried deep inside organs during open surgery. This approach is not feasible in minimally invasive or robotic surgery, as the contact with the tissue is mediated by instruments. To address this problem, we propose a soft robotic…

Cited by 26 Source ↗Scholar ↗

2016

A composite soft bending actuation module with integrated curvature sensing

Selim Ozel, Erik H. Skorina, Ming Luo, Weijia Tao, Fuchen Chen, Yixiao Pan +1

ICRA 2016

Soft robotics carries the promise of making robots as capable and adaptable as biological creatures, but this will not be possible without the ability to perform self-sensing and control with precision and repeatability. In this paper, we seek to address this need with the development of a new pneum

Cited by 50 Source ↗Scholar ↗

2015

Feedforward augmented sliding mode motion control of antagonistic soft pneumatic actuators

Erik H. Skorina, Ming Luo, Selim Ozel, Fuchen Chen, Weijia Tao, Cagdas D. Onal

ICRA 2015poster

Soft pneumatic actuators provide many exciting properties, but controlling them without the use of bulky and expensive flow-control valves can be difficult and computationally expensive. We seek a solution to this problem by introducing an inexpensive and reliable muscle-like linear soft actuator us…

Cited by 77 Source ↗Scholar ↗