9 accepted papers
Through the use of robotic supernumerary limbs, it has been proposed that a single user could perform tasks like surgery or industrial assembly that currently require a team. Although validation studies, often conducted in virtual reality, have demonstrated that individuals can learn to command supe
This study investigates the role of haptic feedback in a two-vehicle following scenario, where information about the motion of the front vehicle is provided through a virtual elastic connection with it. Using a robotic interface in a simulated driving environment, we examined the impact of varying l
The utilization of shared control in the realm of surgical robotics augments precision and safety by amalgamating human expertise with autonomous assistance. This paper proposes a user-centered shared control framework enabling a robot to learn from expert demonstration, predict operators’ intent an…
The manipulation of instruments under a microscope suffers from physiological tremor and human errors, which are inevitable in long microsurgery interventions. Robotic systems developed in recent years for microsurgery are expensive and not flexible, as they cannot use standard instruments, and need…
While surgical robots, such as the da Vinci Surgical System, have become prevalent in minimally invasive surgery, they are predominantly used by the human operator to directly teleoperate the tools. This paper aims to analyse the different methods of human robot shared control in the surgical domain…
Many surgical tasks require three or more tools working together, where a hands-free interface could extend a surgeon's actions to control a third surgical tool. However, most current interfaces do not allow skilled control of grasping critical to robotic manipulation. Here we first present a system…
While the traditional control of surgical robots relies on fully manual teleoperations, human-robot collaborative systems promise to address issues such as workspace constrains and laborious tasks. In particular, shared control can reduce the surgeon's workload and improve the overall surgical perfo
In traditional endoscopic surgery, the surgeon manipulating the endoscopic instruments is supported by an assistant controlling the endoscope, where their coordination may be affected by communication errors. To address this issue, we introduce a foot interface controlled robotic endoscopic system,
We developed a foot interface enabling an operator to control a robotic arm with four degrees of freedom in continuous direction and speed, for operating one of the multiple tools required during robot-aided surgery. In this letter, we first test whether this pedal interface can be used to carry out