Showing cs.ROShow all
3 papers · 1 filter
cs.RO2026
CRESSim-Neo: A Batched GPU Simulation Engine for Surgical Robotics and Robot Learning
Yafei Ou, Ahnaf Naheen, Tleukhan Mussin +3
We introduce CRESSim-Neo, a batched GPU simulation engine for surgical robotics and robot learning. CRESSim-Neo combines position-based simulation of rigid bodies, deformable tissu…
cs.RO2026
Simulation of Surgical Suturing Using Position-Based Dynamics and the Material Point Method for Robot Reinforcement Learning
Tleukhan Mussin, Yafei Ou, Mahdi Tavakoli
Recent advances in robotics research have created a strong demand for high-performance simulators. Surgical robotics simulation faces unique challenges due to the need to model div…
cs.RO2024
NUSense: Robust Soft Optical Tactile Sensor
Madina Yergibay, Tleukhan Mussin, Saltanat Seitzhan +4
While most tactile sensors rely on measuring pressure, insights from continuum mechanics suggest that measuring shear strain provides critical information for tactile sensing. In t…