211 citations · 756 across the 49 of their papers we have counts for
7 papers · 1 filter
A Lightweight, High-Extension, Planar 3-Degree-of-Freedom Manipulator Using Pinched Bistable Tapes
O. Godson Osele, Allison M. Okamura, Brian H. Do
To facilitate sensing and physical interaction in remote and/or constrained environments, high-extension, lightweight robot manipulators are easier to transport and reach substanti…
A 4-DoF Parallel Origami Haptic Device for Normal, Shear, and Torsion Feedback
Sophia R. Williams, Jacob M. Suchoski, Zonghe Chua +1
We present a mesoscale finger-mounted 4-degree-of-freedom (DoF) haptic device that is created using origami fabrication techniques. The 4-DoF device is a parallel kinematic mechani…
Robot-Assisted Surgical Training Over Several Days in a Virtual Surgical Environment with Divergent and Convergent Force Fields
Yousi A. Oquendo, Zonghe Chua, Margaret M. Coad +5
Surgical procedures require a high level of technical skill to ensure efficiency and patient safety. Due to the direct effect of surgeon skill on patient outcomes, the development…
Characterization of Real-time Haptic Feedback from Multimodal Neural Network-based Force Estimates during Teleoperation
Zonghe Chua, Allison M. Okamura
Force estimation using neural networks is a promising approach to enable haptic feedback in minimally invasive surgical robots without end-effector force sensors. Various network a…
Distributed Control of Truss Robots Using Consensus Alternating Direction Method of Multipliers
Nathan S. Usevitch, Trevor Halsted, Zachary M. Hammond +2
Truss robots, or robots that consist of extensible links connected at universal joints, are often designed with modular physical components but require centralized control techniqu…
Shared-Control Teleoperation Paradigms on a Soft Growing Robot Manipulator
Fabio Stroppa, Mario Selvaggio, Nathaniel Agharese +4
Semi-autonomous telerobotic systems allow both humans and robots to exploit their strengths, while enabling personalized execution of a task. However, for new soft robots with degr…