6 accepted papers
Force sensing on the end effector is crucial for mobile, legged robots to adapt to varying terrain and manipulate objects in complex environments. Since efficient legs have to be light and load bearing, force sensors need to have increased <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns
Grasp force estimation can help prevent robots from damaging delicate objects during manipulation and improve learning-based robotic control. Integrating force sensing into deformable grippers negotiates trade-offs in cost, complexity, mechanical robustness, and performance. With the growing integra
We present a finger-mounted 4-degree-of-freedom (DoF) haptic device created using origami fabrication techniques. The 4-DoF device uses a parallel kinematic mechanism and is capable of delivering normal, shear, and torsional haptic feedback to the fingertip. Traditional methods of robot fabrication
Force estimation using neural networks is a promising approach to enable haptic feedback in minimally invasive surgical robots without end-effector force sensors. Various network architectures have been proposed, but none have been tested in real time with surgical-like manipulations. Thus, question…
Knowledge of interaction forces during teleoperated robot-assisted surgery could be used to enable force feedback to users and evaluate tissue handling skill. However, direct force sensing at the end-effector is challenging because it requires biocompatible, sterilizable, and cost-effective sensors.…
Individuals living with paralysis or amputation can operate robotic prostheses using input signals based on their intent or attempt to move. Because sensory function is lost or diminished in these individuals, haptic feedback must be non-collocated. The intracortical brain computer interface (iBCI)…