10 accepted papers
Accurate 6-DoF pose estimation of objects is critical for robots to perform precise manipulation tasks. However, for dynamic object pose estimation, conventional camera-based approaches face several major challenges, such as motion blur, sensor noise, and low-light limitation. To address these issue…
Conventional soft pneumatic actuators, typically based on hollow elastomeric chambers, often suffer from small structural support and require costly geometry-specific redesigns for multimodal functionality. Porous materials, such as foam, filled into chambers, can provide structural stability to the…
The limited workspace and complex singularity issues are predominant factors impeding the clinical applicability of fracture reduction parallel robots. To address these challenges, this paper proposes a novel redundant parallel mechanism (NRPM) for robotic-assisted fracture reduction with an enlarge…
This paper reports the design, simulation, and experiment of a robotic leg prototype named Cury, which has the potential to achieve minimal clearance and excellent backdrivability. Inspired by human walking data, the actuator design incorporates four-bar linkages and ball screws and is further optim…
The ubiquitous presence of three types of delay in robotic teleoperation systems, i.e., computation delay, transmission delay, and mechanical delay, is the major factor of the system degradation. It is noticeable that the transmission latency over the communication network shows a periodic trend due
Due to the increasing complexity of robotic structures, modelling robots is becoming more and more challenging, and analytical models are very difficult to build. Machine learning approaches have shown great capabilities in learning complex mapping and have widely been used in robot model learning a
Robots for minimally invasive surgery are becoming more and more complex, due to miniaturization and flexibility requirements. The vast majority of surgical robots are tendon-driven and this, along with the complex design, causes high nonlinearities in the system which are difficult to model analyti
Robot modelling is an essential part to properly understand how a robotic system moves and how to control it. The kinematic model of a robot is usually obtained by using Denavit-Hartenberg convention, which relies on a set of parameters to describe the end-effector pose in a Cartesian space. These p…
Snake-like robots for endoscopic surgery make it possible to reach deep-seated lesions. With the use of small flexible tendon-driven instruments, it is possible to perform bimanual micro-surgical tasks that are challenging for standard endoscopic surgeries. Existing devices, however, lack articulate…