4 accepted papers
Fully autonomous navigation in populated environments is still a challenging problem for mobile robots. This paper explores the idea of using active human-robot communication to facilitate navigation tasks. We propose to convey a robot's intent to human users via a wearable haptic interface. The int…
Automation of repetitive tasks can improve laparoscopic surgical procedures by unloading surgeons and reducing duration, trauma, and expense. However, surgical procedures involve delicate manipulation of deformable tissues in a very dynamic environment, suggesting that automated execution of surgica…
In a teleoperated system, misalignment between the master and slave manipulators can result from clutching, errors in the kinematic model, and/or sensor errors. This study examines the effects of type and magnitude of misalignment on the performance of the teleoperator. We first characterized the ma…
During robotic teleoperation, the dynamics of the master manipulators and the control of remote-side instruments impose challenges on the motor system of the human operator, and may impact performance and learning. In teleoperated robot-assisted minimally invasive surgery, there is a clear correlati…