1 citations · 1 across the 8 of their papers we have counts for
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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…
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…
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…