2 papers
cs.RO2026
A Disturbance in the Force: Force Actuation on the RAVEN II Surgical Robot with Parallel Motor-Cable Units
Haonan Peng, Dun-Tin Chiang, Jordan Hendricks +5
Difficulty in haptic feedback for surgical robots has been a long-term problem for decades. In recent years, learning-based force estimation from robot states suggests desirable ac…
cs.RO2024
Efficient Data-driven Joint-level Calibration of Cable-driven Surgical Robots
Haonan Peng, Andrew Lewis, Yun-Hsuan Su +5
Knowing accurate joint positions is crucial for safe and precise control of laparoscopic surgical robots, especially for the automation of surgical sub-tasks. These robots have oft…