7 papers
RCM Constraint-Consistent Dynamic Control in Surgical Robots
Yu Li, Hamid Sadeghian, Zewen Yang +2
Robotic-assisted minimally invasive surgery (RAMIS) requires accurate enforcement of the remote center of motion (RCM) constraint to ensure safe tool motion through a trocar. Exist…
Learning a Shape-adaptive Assist-as-needed Rehabilitation Policy from Therapist-informed Input
Zhimin Hou, Jiacheng Hou, Xiao Chen +3
Therapist-in-the-loop robotic rehabilitation has shown great promise in enhancing rehabilitation outcomes by integrating the strengths of therapists and robotic systems. However, i…
Streaming Generated Gaussian Process Experts for Online Learning and Control: Extended Version
Zewen Yang, Dongfa Zhang, Xiaobing Dai +5
Gaussian Processes (GPs), as a nonparametric learning method, offer flexible modeling capabilities and calibrated uncertainty quantification for function approximations. Additional…
SafeFlow: Safe Robot Motion Planning with Flow Matching via Control Barrier Functions
Xiaobing Dai, Zewen Yang, Dian Yu +4
Recent advances in generative modeling have led to promising results in robot motion planning, particularly through diffusion and flow matching (FM)-based models that capture compl…
Tele-rehabilitation with online skill transfer and adaptation in
Tianle Ni, Xiao Chen, Hamid Sadeghian +1
This paper proposes a tele-teaching framework for the domain of robot-assisted tele-rehabilitation. The system connects two robotic manipulators on therapist and patient side via b…
Prompt2Auto: From Motion Prompt to Automated Control via Geometry-Invariant One-Shot Gaussian Process Learning
Zewen Yang, Xiaobing Dai, Dongfa Zhang +5
Learning from demonstration allows robots to acquire complex skills from human demonstrations, but conventional approaches often require large datasets and fail to generalize acros…