4 papers
Teleoperation in Robot-assisted MIS with Adaptive RCM via Admittance Control
Ehsan Nasiri, Srikarran Sowrirajan, Long Wang
This paper presents the development and assessment of a teleoperation framework for robot-assisted minimally invasive surgery (MIS). The framework leverages our novel integration o…
Hybrid Force Motion Control with Estimated Surface Normal for Manufacturing Applications
Ehsan Nasiri, Long Wang
This paper proposes a hybrid force-motion framework that utilizes real-time surface normal updates. The surface normal is estimated via a novel method that leverages force sensing…
Admittance Control for Adaptive Remote Center of Motion in Robotic Laparoscopic Surgery
Ehsan Nasiri, Long Wang
In laparoscopic robot-assisted minimally invasive surgery, the kinematic control of the robot is subject to the remote center of motion (RCM) constraint at the port of entry (e.g.,…
A Bimanual Teleoperation Framework for Light Duty Underwater Vehicle-Manipulator Systems
Justin Sitler, Srikarran Sowrirajan, Brendan Englot +1
In an effort to lower the barrier to entry in underwater manipulation, this paper presents an open-source, user-friendly framework for bimanual teleoperation of a light-duty underw…