5 accepted papers
Mobile robotic platforms have gained increasing popularity across various fields; however, achieving intuitive physical interaction between these robots and humans remains an ongoing area of exploration. In this study, we proposed a novel variable admittance model designed for robotic mobile platfor
In robotic assisted surgeries, surgical tools are inserted into the human body via an incision point in the abdominal wall, which is imposed as a remote center of motion (RCM). The selection of the incision's point location in the human body is critical for the success of the surgical procedure. In…
We consider the problem of controlling a bilateral leader-follower robotic surgical set-up to allow kinesthetic haptic feedback to the user when the instrument approaches a forbidden area like sensitive organs arteries or veins that should be protected from injuries during surgery. The leader is a h…
In this work, a passive physical human-robot interaction (pHRI) controller is proposed to intraoperatively ensure that sensitive tissues will not be damaged by the robot's tool. The proposed scheme uses the point cloud of the restricted region's surface as constraint definition and Artificial Potent…
Progressive automation is a method that allows the operator to demonstrate a task a few times until the robot gradually learns to execute it autonomously. In this letter, we combine a novel structure of dynamic movement primitives (DMP) with variable stiffness control, to allow synchronization with