8 accepted papers
Collision detection is critical for safe physical human-robot interaction (pHRI). The generalized momentum observer (GMO) is a prevalent sensorless method, estimating momentum deviations to detect collisions. However, its reliance on iterative solutions and static thresholds severely limits operatio
While 3D Gaussian Splatting has recently demonstrated impressive results in scene-level reconstruction, it lacks the ability to reconstruct and track individual objects with accurate poses. This limitation hinders its application in downstream tasks such as augmented reality and embodied AI, where o
Visual servoing techniques guide robotic motion using visual information to accomplish manipulation tasks, requiring high precision and robustness against noise. Traditional methods often require prior knowledge and are susceptible to external disturbances. Learning-driven alternatives, while promis
Traditional imitation learning methods typically rely on high-quality expert demonstrations and exhibit poor generalization when deployed in unfamiliar environments. A key limitation is their inability to effectively quantify and utilize epistemic uncertainty in the decision-making process. To addre
Micro-injection is one of the most efficient approaches to deliver foreign materials into zebrafish larva heart. Well-trained micro-injection technicians are required for such operation, and still the efficiency remains low and the work is laborious. As a result, automated micro-injection that is ab
In this paper, we address the positioning problem of remote centre of motion (RCM) mechanisms with uncalibrated image feedback from a monocular camera. Nowadays, RCM mechanisms are widely used in minimally invasive robotic surgery due to their ability to distally rotate a tool around a fixed entry p…
In this paper, we propose a novel design of compliant safe joint, which has flexibility when the work load exceeds a predefined threshold. The compliance is generated by a spring. We design a special transmission mechanism to convert axial motion into circumferential motion such that the linear comp…
This paper presents the development of an endoscope manipulator with passive and active structures for functional endoscopic sinus surgery (FESS). The 5-DoF passive structure has three translations and two rotations (T3R2) that allows the surgeon to manually place the endoscope near to the entry poi…