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cs.RO2024
Automating Deformable Gasket Assembly
Simeon Adebola, Tara Sadjadpour, Karim El-Refai +8
In Gasket Assembly, a deformable gasket must be aligned and pressed into a narrow channel. This task is common for sealing surfaces in the manufacturing of automobiles, appliances,…
cs.RO2024
STITCH: Augmented Dexterity for Suture Throws Including Thread Coordination and Handoffs
Kush Hari, Hansoul Kim, Will Panitch +6
We present STITCH: an augmented dexterity pipeline that performs Suture Throws Including Thread Coordination and Handoffs. STITCH iteratively performs needle insertion, thread swee…
cs.RO2023
Self-Supervised Learning for Interactive Perception of Surgical Thread for Autonomous Suture Tail-Shortening
Vincent Schorp, Will Panitch, Kaushik Shivakumar +6
Accurate 3D sensing of suturing thread is a challenging problem in automated surgical suturing because of the high state-space complexity, thinness and deformability of the thread,…