16 citations · 39 across the 13 of their papers we have counts for
13 papers
Robust Sliding Mode and Admittance Control of Underactuated Aerial Manipulators for Contact-Based Inspection
Tareq Aziz Alqutami, Yvan Petillot, Matthew W. Dunnigan +1
Contact-based industrial inspection requires aerial platforms to maintain stable interaction while rejecting disturbances. Underactuated aerial manipulators present control challen…
Learning Responsibility-Attributed Adversarial Scenarios for Testing Autonomous Vehicles
Yizhuo Xiao, Haotian Yan, Ying Wang +5
Establishing trustworthy safety assurance for autonomous driving systems (ADSs) requires evidence that failures arise from avoidable system deficiencies rather than unavoidable tra…
An Experimental Modular Instrument With a Haptic Feedback Framework for Robotic Surgery Training
Walid Shaker, Mustafa Suphi Erden
Robotic-assisted surgery offers significant clinical advantages but largely eliminates direct haptic feedback, increasing the risk of excessive tool-tissue interaction forces. Alth…
Real-Time Non-Contact Force Compensation for Wrist-Mounted Force/Torque Sensors in Haptic-Enabled Robotic Surgery Training
Walid Shaker, Mustafa Suphi Erden
Haptic feedback has been a long-missed feature in robotic-assisted surgery, one that would allow surgeons to perceive tissue properties and apply controlled forces during delicate…
Developing a Robotic Surgery Training System for Wide Accessibility and Research
Walid Shaker, Mustafa Suphi Erden
Robotic surgery represents a major breakthrough in medical interventions, which has revolutionized surgical procedures. However, the high cost and limited accessibility of robotic…
Controllable Latent Diffusion for Traffic Simulation
Yizhuo Xiao, Mustafa Suphi Erden, Cheng Wang
The validation of autonomous driving systems benefits greatly from the ability to generate scenarios that are both realistic and precisely controllable. Conventional approaches, su…
An Automated Machine Learning Framework for Surgical Suturing Action Detection under Class Imbalance
Baobing Zhang, Paul Sullivan, Benjie Tang +2
In laparoscopy surgical training and evaluation, real-time detection of surgical actions with interpretable outputs is crucial for automated and real-time instructional feedback an…
SpasticMyoElbow: Physical Human-Robot Interaction Simulation Framework for Modelling Elbow Spasticity
Hao Yu, Zebin Huang, Yutong Li +4
Robotic devices hold great potential for efficient and reliable assessment of neuromotor abnormalities in post-stroke patients. However, spasticity caused by stroke is still assess…
Three Approaches to the Automation of Laser System Alignment and Their Resource Implications: A Case Study
David A. Robb, Donald Risbridger, Ben Mills +6
The alignment of optical systems is a critical step in their manufacture. Alignment normally requires considerable knowledge and expertise of skilled operators. The automation of s…
Replication of Impedance Identification Experiments on a Reinforcement-Learning-Controlled Digital Twin of Human Elbows
Hao Yu, Zebin Huang, Qingbo Liu +2
This study presents a pioneering effort to replicate human neuromechanical experiments within a virtual environment utilising a digital human model. By employing MyoSuite, a state-…
Fractal Impedance for Passive Controllers: A Framework for Interaction Robotics
Keyhan Kouhkiloui Babarahmati, Carlo Tiseo, Joshua Smith +3
There is increasing interest in control frameworks capable of moving robots from industrial cages to unstructured environments and coexisting with humans. Despite significant impro…
Understanding Soft-Tissue Behavior for Application to Microlaparoscopic Surface Scan
M. Erden, B. Rosa, J. Szewczyk +1
This paper presents an approach for understanding the soft tissue behavior in surface contact with a probe scanning the tissue. The application domain is confocal microlaparoscopy,…
Mechanical design of a distal scanner for confocal microlaparoscope: A conic solution
Mustafa Suphi Erden, Benoît Rosa, Jérome Szewczyk +1
This paper presents the mechanical design of a distal scanner to perform a spiral scan for mosaic-imaging with a confocal microlaparoscope. First, it is demonstrated with ex vivo e…