5 papers
From swept contact to pose: Probe-aware registration via complementary-shape docking
Chen Chen, Yunwen Li, Yifan Xu +5
Accurate registration between a prior model and the real scene is essential for high-precision robotic manipulation, yet optical methods suffer from long calibration chains, line-o…
Adaptive Vision-Based Control of Redundant Robots with Null-Space Interaction for Human-Robot Collaboration
Xiangjie Yan, Chen Chen, Xiang Li
Human-robot collaboration aims to extend human ability through cooperation with robots. This technology is currently helping people with physical disabilities, has transformed the…
UltraDP: Generalizable Carotid Ultrasound Scanning with Force-Aware Diffusion Policy
Ruoqu Chen, Xiangjie Yan, Kangchen Lv +3
Ultrasound scanning is a critical imaging technique for real-time, non-invasive diagnostics. However, variations in patient anatomy and complex human-in-the-loop interactions pose…
UltraHiT: A Hierarchical Transformer Architecture for Generalizable Internal Carotid Artery Robotic Ultrasonography
Teng Wang, Haojun Jiang, Yuxuan Wang +4
Carotid ultrasound is crucial for the assessment of cerebrovascular health, particularly the internal carotid artery (ICA). While previous research has explored automating carotid…
A Unified Interaction Control Framework for Safe Robotic Ultrasound Scanning with Human-Intention-Aware Compliance
Xiangjie Yan, Shaqi Luo, Yongpeng Jiang +6
The ultrasound scanning robot operates in environments where frequent human-robot interactions occur. Most existing control methods for ultrasound scanning address only one specifi…