29 citations · 80 across the 22 of their papers we have counts for
24 papers
MV-dVRK: A Multi-Viewpoint Benchmark for Spatial Surgical Perception
Guido Caccianiga, Sergey Prokudin, Yutong Chen +9
Large-scale training and refined optimization techniques have greatly improved sparse multi-view 3D reconstruction. Despite their relevance to surgery, such methods have never befo…
Hair is a functionally graded composite, not a uniform fiber
Andrew K. Schulz, Svetlana Griego, Vesna Srot +11
Hair provides mammals with diverse benefits, including protection, thermoregulation, and enhanced sensory perception. Unlike tendons and teeth, which are biomineralized, hair is hy…
Rendering Forces With a Modular Cable System, Motors, and Brakes
Jan Ulrich Bartels, Alexander Achberger, Katherine J. Kuchenbecker +1
We describe the hardware design, force-rendering approach, and evaluation of a new reconfigurable haptic interface consisting of a network of hybrid motor-brake actuation modules t…
Adding internal audio sensing to internal vision enables human-like in-hand fabric recognition with soft robotic fingertips
Iris Andrussow, Jans Solano, Benjamin A. Richardson +2
Distinguishing the feel of smooth silk from coarse cotton is a trivial everyday task for humans. When exploring such fabrics, fingertip skin senses both spatio-temporal force patte…
Contact-Aware Refinement of Human Pose Pseudo-Ground Truth via Bioimpedance Sensing
Maria-Paola Forte, Nikos Athanasiou, Giulia Ballardini +3
Capturing accurate 3D human pose in the wild would provide valuable data for training pose estimation and motion generation methods. While video-based estimation approaches have be…
ISyHand: A Dexterous Multi-finger Robot Hand with an Articulated Palm
Benjamin A. Richardson, Felix Grüninger, Lukas Mack +2
The rapid increase in the development of humanoid robots and customized manufacturing solutions has brought dexterous manipulation to the forefront of modern robotics. Over the pas…
Open-Source Multi-Viewpoint Surgical Telerobotics
Guido Caccianiga, Yarden Sharon, Bernard Javot +6
As robots for minimally invasive surgery (MIS) gradually become more accessible and modular, we believe there is a great opportunity to rethink and expand the visualization and con…
Functionally graded keratin facilitates tactile sensing in elephant whiskers
Andrew K. Schulz, Lena V. Kaufmann, Lawrence T. Smith +6
Keratin composites enable animals to hike with hooves, fly with feathers, and sense with skin. These distinct functions arise from variations in the underlying properties and micro…
Holistic Fusion: Task- and Setup-Agnostic Robot Localization and State Estimation with Factor Graphs
Julian Nubert, Turcan Tuna, Jonas Frey +4
Seamless operation of mobile robots in challenging environments requires low-latency local motion estimation and accurate global localization. While most sensor-fusion approaches a…
Diffusion-Based Approximate MPC: Fast and Consistent Imitation of Multi-Modal Action Distributions
Pau Marquez Julbe, Julian Nubert, Henrik Hose +2
Approximating model predictive control (MPC) using imitation learning (IL) allows for fast control without solving expensive optimization problems online. However, methods that use…
Visuo-Tactile Object Pose Estimation for a Multi-Finger Robot Hand with Low-Resolution In-Hand Tactile Sensing
Lukas Mack, Felix Grüninger, Benjamin A. Richardson +3
Accurate 3D pose estimation of grasped objects is an important prerequisite for robots to perform assembly or in-hand manipulation tasks, but object occlusion by the robot's own ha…
MultiViPerFrOG: A Globally Optimized Multi-Viewpoint Perception Framework for Camera Motion and Tissue Deformation
Guido Caccianiga, Julian Nubert, Cesar Cadena +2
Reconstructing the 3D shape of a deformable environment from the information captured by a moving depth camera is highly relevant to surgery. The underlying challenge is the fact t…
Dense 3D Reconstruction Through Lidar: A Comparative Study on Ex-vivo Porcine Tissue
Guido Caccianiga, Julian Nubert, Marco Hutter +1
New sensing technologies and more advanced processing algorithms are transforming computer-integrated surgery. While researchers are actively investigating depth sensing and 3D rec…
Minsight: A Fingertip-Sized Vision-Based Tactile Sensor for Robotic Manipulation
Iris Andrussow, Huanbo Sun, Katherine J. Kuchenbecker +1
Intelligent interaction with the physical world requires perceptual abilities beyond vision and hearing; vibrant tactile sensing is essential for autonomous robots to dexterously m…
Reconstructing Signing Avatars From Video Using Linguistic Priors
Maria-Paola Forte, Peter Kulits, Chun-Hao Huang +4
Sign language (SL) is the primary method of communication for the 70 million Deaf people around the world. Video dictionaries of isolated signs are a core SL learning tool. Replaci…
Multimodal Multi-User Surface Recognition with the Kernel Two-Sample Test
Behnam Khojasteh, Friedrich Solowjow, Sebastian Trimpe +1
Machine learning and deep learning have been used extensively to classify physical surfaces through images and time-series contact data. However, these methods rely on human expert…
Haptic Feedback of Tool Vibrations Facilitates Telerobotic Construction
Yijie Gong, Haliza Mat Husin, Ecda Erol +2
Telerobotics has shown promise in helping workers safely manipulate building components on construction sites; however, its primary reliance on visual feedback limits efficiency in…
The Utility of Synthetic Reflexes and Haptic Feedback for Upper-Limb Prostheses in a Dexterous Task Without Direct Vision
Neha Thomas, Farimah Fazlollahi, Katherine J. Kuchenbecker +1
Individuals who use myoelectric upper-limb prostheses often rely heavily on vision to complete their daily activities. They thus struggle in situations where vision is overloaded,…
Wrist-Squeezing Force Feedback Improves Accuracy and Speed in Robotic Surgery Training
Sergio Machaca, Eric Cao, Amy Chi +3
Current robotic minimally invasive surgery (RMIS) platforms provide surgeons with no haptic feedback of the robot's physical interactions. This limitation forces surgeons to rely h…
In the Arms of a Robot: Designing Autonomous Hugging Robots with Intra-Hug Gestures
Alexis E. Block, Hasti Seifi, Otmar Hilliges +2
Hugs are complex affective interactions that often include gestures like squeezes. We present six new guidelines for designing interactive hugging robots, which we validate through…
A soft thumb-sized vision-based sensor with accurate all-round force perception
Huanbo Sun, Katherine J. Kuchenbecker, Georg Martius
Vision-based haptic sensors have emerged as a promising approach to robotic touch due to affordable high-resolution cameras and successful computer-vision techniques. However, thei…
Sensorimotor-inspired Tactile Feedback and Control Improve Consistency of Prosthesis Manipulation in the Absence of Direct Vision
Neha Thomas, Farimah Fazlollahi, Jeremy D. Brown +1
The lack of haptically aware upper-limb prostheses forces amputees to rely largely on visual cues to complete activities of daily living. In contrast, able-bodied individuals inher…
The Six Hug Commandments: Design and Evaluation of a Human-Sized Hugging Robot with Visual and Haptic Perception
Alexis E. Block, Sammy Christen, Roger Gassert +2
Receiving a hug is one of the best ways to feel socially supported, and the lack of social touch can have severe negative effects on an individual's well-being. Based on previous r…
Deep Learning for Tactile Understanding From Visual and Haptic Data
Yang Gao, Lisa Anne Hendricks, Katherine J. Kuchenbecker +1
Robots which interact with the physical world will benefit from a fine-grained tactile understanding of objects and surfaces. Additionally, for certain tasks, robots may need to kn…