23 citations · 72 across the 7 of their papers we have counts for
7 papers
Haptics-Enabled Forceps with Multi-Modal Force Sensing: Towards Task-Autonomous Surgery
Tangyou Liu, Tinghua Zhang, Jay Katupitiya +2
Many robotic surgical systems have been developed with micro-sized forceps for tissue manipulation. However, these systems often lack force sensing at the tool side and the manipul…
Camera Frame Misalignment in a Teleoperated Eye-in-Hand Robot: Effects and a Simple Correction Method
Liao Wu, Fangwen Yu, Thanh Nho Do +1
Misalignment between the camera frame and the operator frame is commonly seen in a teleoperated system and usually degrades the operation performance. The effects of such misalignm…
Real-time Joint Motion Analysis and Instrument Tracking for Robot-Assisted Orthopaedic Surgery
Mario Strydom, Artur Banach, Liao Wu +3
Robotic-assisted orthopaedic surgeries demand accurate, automated leg manipulation for improved spatial accuracy to reduce iatrogenic damage. In this study, we propose novel rigid…
Optimal Dexterity for a Snake-like Surgical Manipulator using Patient-specific Task-space Constraints in a Computational Design Algorithm
Andrew Razjigaev, Ajay K. Pandey, Jonathan Roberts +1
Tendon-driven snake-like arms have been used to create highly dexterous continuum robots so that they can bend around anatomical obstacles to access clinical targets. In this paper…
Model-less Active Compliance for Continuum Robots using Recurrent Neural Networks
David Jakes, Zongyuan Ge, Liao Wu
Endowing continuum robots with compliance while it is interacting with the internal environment of the human body is essential to prevent damage to the robot and the surrounding ti…
Geometric interpretation of the general POE model for a serial-link robot via conversion into D-H parameterization
Liao Wu, Ross Crawford, Jonathan Roberts
While Product of Exponentials (POE) formula has been gaining increasing popularity in modeling the kinematics of a serial-link robot, the Denavit-Hartenberg (D-H) notation is still…
The ACRV Picking Benchmark (APB): A Robotic Shelf Picking Benchmark to Foster Reproducible Research
Jürgen Leitner, Adam W. Tow, Jake E. Dean +15
Robotic challenges like the Amazon Picking Challenge (APC) or the DARPA Challenges are an established and important way to drive scientific progress. They make research comparable…