1 citations · 1 across the 11 of their papers we have counts for
12 papers
Spatiotemporal Context-dependent Personalized Movement Compensation in Delayed Telemanipulation
Sai Jiang, Zonghe Chua
Communication delay remains a central challenge in telerobotics, where it disrupts visuomotor coordination and reduces task precision. Motion scaling is an effective countermeasure…
Sequential Planning via Anchored Robotic Keypoints
Bryce Grant, Aryeh Rothenberg, Logan Senning +3
Changes in a robot's observations do not automatically imply changes in the task it is solving, but language-conditioned manipulation systems often fail to separate the two. If an…
Shaft-integrated Force Sensing with Transformer-based Dynamics Compensation for Telesurgery
Shuyuan Yang, Grant Boone, Timo Markert +4
Robot-Assisted Minimally Invasive Surgery (RAMIS) enhances surgeon dexterity, with newer platforms leveraging haptic feedback to further improve performance. Such force information…
A Model-based Visual Contact Localization and Force Sensing System for Compliant Robotic Grippers
Kaiwen Zuo, Shuyuan Yang, Zonghe Chua
Grasp force estimation can help prevent robots from damaging delicate objects during manipulation and improve learning-based robotic control. Integrating force sensing into deforma…
Haptic Guidance and Haptic Error Amplification in a Virtual Surgical Robotic Training Environment
Yousi A. Oquendo, Margaret M. Coad, Sherry M. Wren +5
Teleoperated robotic systems have introduced more intuitive control for minimally invasive surgery, but the optimal method for training remains unknown. Recent motor learning studi…
A Modular 3-Degree-of-Freedom Force Sensor for Robot-assisted Minimally Invasive Surgery Research
Zonghe Chua, Allison M. Okamura
Effective force modulation during tissue manipulation is important for ensuring safe robot-assisted minimally invasive surgery (RMIS). Strict requirements for in-vivo distal force…
A 4-DoF Parallel Origami Haptic Device for Normal, Shear, and Torsion Feedback
Sophia R. Williams, Jacob M. Suchoski, Zonghe Chua +1
We present a mesoscale finger-mounted 4-degree-of-freedom (DoF) haptic device that is created using origami fabrication techniques. The 4-DoF device is a parallel kinematic mechani…
Robot-Assisted Surgical Training Over Several Days in a Virtual Surgical Environment with Divergent and Convergent Force Fields
Yousi A. Oquendo, Zonghe Chua, Margaret M. Coad +5
Surgical procedures require a high level of technical skill to ensure efficiency and patient safety. Due to the direct effect of surgeon skill on patient outcomes, the development…
Characterization of Real-time Haptic Feedback from Multimodal Neural Network-based Force Estimates during Teleoperation
Zonghe Chua, Allison M. Okamura
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 a…
Toward Force Estimation in Robot-Assisted Surgery using Deep Learning with Vision and Robot State
Zonghe Chua, Anthony M. Jarc, Allison M. Okamura
Knowledge of interaction forces during teleoperated robot-assisted surgery could be used to enable force feedback to human operators and evaluate tissue handling skill. However, di…
Evaluation of Non-Collocated Force Feedback Driven by Signal-Independent Noise
Zonghe Chua, Allison M. Okamura, Darrel R. Deo
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 dim…
Task Dynamics of Prior Training Influence Visual Force Estimation Ability During Teleoperation
Zonghe Chua, Anthony M. Jarc, Sherry Wren +2
The lack of haptic feedback in Robot-assisted Minimally Invasive Surgery (RMIS) is a potential barrier to safe tissue handling during surgery. Bayesian modeling theory suggests tha…