Winnie Kuang — accepted AI-conference papers

2020

Vibration-Based Multi-Axis Force Sensing: Design, Characterization, and Modeling

RA-L 2020

It is strongly desirable but challenging to obtain force sensing mechanisms that are low-cost, volumetrically compact, away from contact location, and can be easily integrated into existing and emerging robot systems. For example, having a bulky force sensor near the tip of surgical robot tools may

Cited by 12 Source ↗Scholar ↗

2018

Vision-Based Force Feedback Estimation for Robot-Assisted Surgery Using Instrument-Constrained Biomechanical Three-Dimensional Maps

Nazim Haouchine, Winnie Kuang, Stephane Cotin, Michael C. Yip

RA-L 2018

We present a method for estimating visual and haptic force feedback on robotic surgical systems that currently do not include significant force feedback for the operator. Our approach permits to compute contact forces between instruments and tissues without additional sensors, relying only on endosc

Cited by 72 Source ↗Scholar ↗