14 accepted papers
Global population aging has led to a sharp increase in patients of upper limb motor dysfunction. Robot assisted virtual training, as a novel solution, can offer safe and precise assistance for upper limb rehabilitation. However, it remains a critical challenge to compensate virtual interaction force
Wearable exoskeleton robots play a crucial role in promoting upper limb function recovery. To enhance human-robot interaction and achieve precise control, continuous prediction of limb joint angles is required. This paper proposes a decoupled network model (VGANet) based on Variable Graph Convolutio
Learning-based grip force measurement methods in robot-assisted minimally invasive surgery (RAMIS) outperforms the traditional model-based methods and avoids the application issues of sensor-based approaches. However, few studies have investigated the problem of grip force measurement in mass-produc
In this paper, we focus on simultaneously recovering the 3D mesh of multiple body parts from a single RGB image. One of the main challenges is that available datasets with full-body 3D annotations are very limited. This results in poor generalization ability of existing learning-based methods. Exist…
We explore a method for grasping novel target objects through push-grasping synergy in a cluttered environment without using object detection and segmentation algorithms. The target information is represented by a color heightmap of the target object. The agent needs to implicitly find the correspon
Given an image with multiple people, our goal is to directly regress the pose and shape of all the people as well as their relative depth. Inferring the depth of a person in an image, however, is fundamentally ambiguous without knowing their height. This is particularly problematic when the scene co…
In this paper, the configuration transformation of Wheel-Legged Robot (WLR) is studied, which can enable the robot to change its multilinks configuration on Inverted Equilibrium Manifold (IEM), while keeping balance with a small location drift on the floor. First of all, the general form of dynamics…
Flexible surgical instruments can flexibly adjust their posture with a high degree of freedom, which makes them highly suitable for performing surgical tasks in narrow workspaces. However, redundant degrees of freedom increase their kinematic difficulty, which may cause redundant solutions, complex…
Vision-based detection and tracking of surgical instrument is attractive because it relies purely on existing setup already in the operating scenario for Robot assisted minimally invasive surgery (RMIS). While significant advanced approaches have been made in recent years, how to effectively carry o
This paper focuses on the regression of multiple 3D people from a single RGB image. Existing approaches predominantly follow a multi-stage pipeline that first detects people in bounding boxes and then independently regresses their 3D body meshes. In contrast, we propose to Regress all meshes in a On…
We describe an end-to-end method for recovering 3D human body mesh from single images and monocular videos. Different from the existing methods try to obtain all the complex 3D pose, shape, and camera parameters from one coupling feature, we propose a skeleton-disentangling based framework, which di…
The performance of traditional hydraulic robots is often limited by their hoses across moving joints or connecting hydraulic drive units, which would reduce their mobility and impede their ability to operate in complex environment. In response to this deficiency, this paper introduces the WLR-II (th…
Wheel-legged hybrid robot with multi-modal locomotion can efficiently adapt to different terrain environments, as well as realize rapid maneuver on flat ground. We have developed a novel hydraulic wheel-legged robot (WLR) combined with a humanoid structural design. This robot can assist to emergency…
Aiming at the physical coupling feature between the finger and the hand exoskeleton, a human-robot interaction modeling approach is proposed. The muscle motion formulas are established based on the finger physiological structure and Hill model. The equilibrium equations between exoskeleton and finge…