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cs.RO2026
Shaft-integrated Force Sensing with Transformer-based Dynamics Compensation for Telesurgery
Shuyuan Yang, Grant Boone, Timo Markert +4
Robot-Assisted Minimally Invasive Surgery (RAMIS) enhances surgeon dexterity, with newer platforms leveraging haptic feedback to further improve performance. Such force information…
cs.RO2026
A Model-based Visual Contact Localization and Force Sensing System for Compliant Robotic Grippers
Kaiwen Zuo, Shuyuan Yang, Zonghe Chua
Grasp force estimation can help prevent robots from damaging delicate objects during manipulation and improve learning-based robotic control. Integrating force sensing into deforma…
cs.RO2026
Data-centric Design of Learning-based Surgical Gaze Perception Models in Multi-Task Simulation
Yizhou Li, Shuyuan Yang, Jiaji Su +1
In robot-assisted minimally invasive surgery (RMIS), reduced haptic feedback and depth cues increase reliance on expert visual perception, motivating gaze-guided training and learn…