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Learning Autonomous Ultrasound via Latent Task Representation and Robotic Skills Adaptation
Xutian Deng, Junnan Jiang, Wen Cheng +1
As medical ultrasound is becoming a prevailing examination approach nowadays, robotic ultrasound systems can facilitate the scanning process and prevent professional sonographers f…
Learning Friction Model for Magnet-actuated Tethered Capsule Robot
Yi Wang, Yuyang Tu, Yuchen He +4
The potential diagnostic applications of magnet-actuated capsules have been greatly increased in recent years. For most of these potential applications, accurate position control o…
Learning Based Adaptive Force Control of Robotic Manipulation Based on Real-Time Object Stiffness Detection
Zhaoxing Deng, Xutian Deng, Miao Li
Force control is essential for medical robots when touching and contacting the patient's body. To increase the stability and efficiency in force control, an Adaption Module could b…
Learning Friction Model for Tethered Capsule Robot
Yi Wang, Yuchen He, Xutian Deng +3
With the potential applications of capsule robots in medical endoscopy, accurate dynamic control of the capsule robot is becoming more and more important. In the scale of a capsule…