36 citations · 126 across the 20 of their papers we have counts for
14 papers · 1 filter
SAATT Nav: a Socially Aware Autonomous Transparent Transportation Navigation Framework for Wheelchairs
Yutong Zhang, Shaiv Y. Mehra, Bradley S. Duerstock +1
While powered wheelchairs reduce physical fatigue as opposed to manual wheelchairs for individuals with mobility impairment, they demand high cognitive workload due to information…
Deep Kernel and Image Quality Estimators for Optimizing Robotic Ultrasound Controller using Bayesian Optimization
Deepak Raina, SH Chandrashekhara, Richard Voyles +2
Ultrasound is a commonly used medical imaging modality that requires expert sonographers to manually maneuver the ultrasound probe based on the acquired image. Autonomous Robotic U…
RUSOpt: Robotic UltraSound Probe Normalization with Bayesian Optimization for In-plane and Out-plane Scanning
Deepak Raina, Abhishek Mathur, Richard M. Voyles +3
The one of the significant challenges faced by autonomous robotic ultrasound systems is acquiring high-quality images across different patients. The proper orientation of the robot…
Robotic Sonographer: Autonomous Robotic Ultrasound using Domain Expertise in Bayesian Optimization
Deepak Raina, SH Chandrashekhara, Richard Voyles +2
Ultrasound is a vital imaging modality utilized for a variety of diagnostic and interventional procedures. However, an expert sonographer is required to make accurate maneuvers of…
Active Multi-Object Exploration and Recognition via Tactile Whiskers
Chenxi Xiao, Shujia Xu, Wenzhuo Wu +1
Robotic exploration under uncertain environments is challenging when optical information is not available. In this paper, we propose an autonomous solution of exploring an unknown…
Learning Multimodal Contact-Rich Skills from Demonstrations Without Reward Engineering
Mythra V. Balakuntala, Upinder Kaur, Xin Ma +2
Everyday contact-rich tasks, such as peeling, cleaning, and writing, demand multimodal perception for effective and precise task execution. However, these present a novel challenge…
From the DESK (Dexterous Surgical Skill) to the Battlefield -- A Robotics Exploratory Study
Glebys T. Gonzalez, Upinder Kaur, Masudur Rahma +6
Short response time is critical for future military medical operations in austere settings or remote areas. Such effective patient care at the point of injury can greatly benefit f…
Pose Imitation Constraints for Collaborative Robots
Glebys Gonzalez, Juan Wachs
Achieving human-like motion in robots has been a fundamental goal in many areas of robotics research. Inverse kinematic (IK) solvers have been explored as a solution to provide kin…
Extending Policy from One-Shot Learning through Coaching
Mythra V. Balakuntala, Vishnunandan L. N. Venkatesh, Jyothsna Padmakumar Bindu +2
Humans generally teach their fellow collaborators to perform tasks through a small number of demonstrations. The learnt task is corrected or extended to meet specific task goals by…
DESK: A Robotic Activity Dataset for Dexterous Surgical Skills Transfer to Medical Robots
Naveen Madapana, Md Masudur Rahman, Natalia Sanchez-Tamayo +10
Datasets are an essential component for training effective machine learning models. In particular, surgical robotic datasets have been key to many advances in semi-autonomous surge…
Spiking Neural Networks for Early Prediction in Human Robot Collaboration
Tian Zhou, Juan P. Wachs
This paper introduces the Turn-Taking Spiking Neural Network (TTSNet), which is a cognitive model to perform early turn-taking prediction about human or agent's intentions. The TTS…
Early Turn-taking Prediction with Spiking Neural Networks for Human Robot Collaboration
Tian Zhou, Juan P. Wachs
Turn-taking is essential to the structure of human teamwork. Humans are typically aware of team members' intention to keep or relinquish their turn before a turn switch, where the…
Early Prediction for Physical Human Robot Collaboration in the Operating Room
Tian Zhou, Juan P. Wachs
To enable a natural and fluent human robot collaboration flow, it is critical for a robot to comprehend their human peers' on-going actions, predict their behaviors in the near fut…
Communication Modalities for Supervised Teleoperation in Highly Dexterous Tasks - Does one size fit all?
Tian Zhou, Maria E. Cabrera, Juan P. Wachs
This study tries to explain the connection between communication modalities and levels of supervision in teleoperation during a dexterous task, like surgery. This concept is applie…