16 accepted papers
Lung cancer is the leading cause of cancer death globally, and early diagnosis via transbronchial biopsy (TBB) improves outcomes. However, conventional bronchoscopes for multiple pulmonary nodules face inefficiencies and operator skill dependency. This paper proposes a path planning strategy for rob…
This paper introduces the CareBot-H Robot, a humanoid nursing robot designed to perform patient transfer tasks in confined environments. The robot is equipped with biomimetic arms that replicate human arm size and function, and distributed tactile sensors that enhance operational safety during physi…
Diffusion Policy (DP) is effective for imitation learning in robotic manipulation, yet likelihood-based replanning methods lack self-correction and often fail once execution deviates. Vision-Language Models (VLMs) offer strong spatial reasoning for failure handling but incur prohibitive latency for
Generating accurate dexterous grasps for objects with complex geometries remains a critical challenge in robotic manipulation. The paper proposes LLM-Diffu, a novel network architecture built on the principles of diffusion models. This architecture integrates a specialized basis point set (BPS) poin
Dual-arm coordination is a fundamental problem in humanoid nursing robot. Large language model (LLM)-driven dual-arm collaboration is gradually becoming a research hotspot in this field. However, the single-thread LLM task planner lacks the ability of co-scheduling, which leads to poor efficiency in
With the increasing complexity of pipeline systems in various industrial and environmental applications, there is a critical need for flexible and efficient robotic solutions that can navigate and inspect confined spaces. This paper introduces a lightweight pipeline crawling robot based on spring-ro
This paper explores the application of large language models (LLMs) in nursing and elderly care, focusing on AI-driven patient monitoring and interaction. We introduce a novel Chinese nursing dataset and implement incremental pre-training (IPT) and supervised fine-tuning (SFT) techniques to enhance…
With the aging of society, there has been an increase in the number of elderly individuals with limb movement disorders. Active rehabilitation training using limb rehabilitation electromechanical devices that incorporate multimodal sensing and monitoring functions can significantly contribute to the…
Iontronic tactile sensors are promising to measure spatial-temporal contact information with high performance. However, no suitable measuring method has been presented, due to issues with crosstalk and non-negligible equivalent resistance. Hence, this study presents an impedance-separating method, w…
In the context of computer vision and human-robot interaction forecasting 3D human poses is crucial for understanding human behavior and enhancing the predictive capabilities of intelligent systems. While existing methods have made significant progress they often focus on predicting major body joint…
Humanoid lower limbs with tactile cognition are crucial for future bipedal robots developing advanced bionic intelligence, such as owning autonomous reflexes and performing human-like actions. Most existing robotic lower limbs focus on providing physical support and mobility, with little work on mor…
To cope with the difficulty of training and eval-uation for nursing telerobot operator. This paper proposes a training-evaluation method for operator with unsupervised trajectory segmentation. To evaluate the dexterity and proce-dural knowledge of the operators objectively, we propose a new unsuperv…
Regular maintenance of pipelines is an important task to ensure oil transportation and other operation (sewers, nature gas). Precise localization of pipeline damage can greatly improve the efficiency of maintenance work. Since the texture similarity and illumination change of pipe, traditional local…
To cope with the requirements on efficiency and labour-saving of the out-pipe surface grinding tasks in the wild, several proposals are revealed and discussed. The one benefiting from the characteristics of planetary gear transmission and friction actuating mechanism are expatiated. To realize full…
Human touching the robot to convey intentions or emotions is an essential communication pathway during physical Human-Robot Interaction (pHRI). Therefore, advanced service robots require superior tactile intelligence to guarantee naturalness and safety when making physical contact with human subject…
This paper proposes a relatively simple function of assistive force for a belt-type hip assist suit developed by the authors' group. The function, which is inspired by the muscle force of the rectus femoris, contains only two parameters, the magnitude and a phase shift factor. Thus, it can reduce th…