5 papers · 1 filter
Autonomous Robotic Tissue Palpation and Abnormalities Characterisation via Ergodic Exploration
Luca Beber, Edoardo Lamon, Matteo Saveriano +2
We propose a novel autonomous robotic palpation framework for real-time elastic mapping during tissue exploration using a viscoelastic tissue model. The method combines force-based…
An Anatomy-Aware Shared Control Approach for Assisted Teleoperation of Lung Ultrasound Examinations
Davide Nardi, Edoardo Lamon, Daniele Fontanelli +2
Although fully autonomous systems still face challenges due to patients' anatomical variability, teleoperated systems appear to be more practical in current healthcare settings. Th…
Automated Generation of MDPs Using Logic Programming and LLMs for Robotic Applications
Enrico Saccon, Davide De Martini, Matteo Saveriano +3
We present a novel framework that integrates Large Language Models (LLMs) with automated planning and formal verification to streamline the creation and use of Markov Decision Proc…
Force-Based Viscosity and Elasticity Measurements for Material Biomechanical Characterisation with a Collaborative Robotic Arm
Luca Beber, Edoardo Lamon, Giacomo Moretti +4
Diagnostic activities, such as ultrasound scans and palpation, are relatively low-cost. They play a crucial role in the early detection of health problems and in assessing their pr…
Exploiting Information Theory for Intuitive Robot Programming of Manual Activities
Elena Merlo, Marta Lagomarsino, Edoardo Lamon +1
Observational learning is a promising approach to enable people without expertise in programming to transfer skills to robots in a user-friendly manner, since it mirrors how humans…