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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…