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Human Interface for Teleoperated Object Manipulation with a Soft Growing Robot [article]

Fabio Stroppa, Ming Luo, Kyle Yoshida, Margaret M. Coad, Laura H. Blumenschein, Allison M. Okamura
2019 arXiv   pre-print
These results demonstrate that our body-movement-based interface is an effective method for control of a soft growing robot manipulator.  ...  In this paper, we propose a human-centered interface that allows users to teleoperate a soft growing robot for manipulation tasks using arm movements.  ...  The operator can therefore control the robot in whatever body pose is most comfortable. III. SOFT-GROWING ROBOT We built a soft growing robot specifically for manipulation tasks.  ... 
arXiv:1910.12998v1 fatcat:23ebe5aizvbpdmzafiukadecoa

Surgical Robotics and Computer-Integrated Interventional Medicine

Russell H. Taylor, Nabil Simaan, Arianna Menciassi, Guang-Zhong Yang
2022 Proceedings of the IEEE  
For example, a recent study [5] found that over 15% of all general surgery procedures in 2020 were performed robotically, compared to only 1.8% in 2012.  ...  The current worldwide robotic surgery market is estimated to be $5.3 billion and is expected to reach $19 billion by 2027, with a compound annual growth rate over 21% [6] .  ...  Treatment planning is highly dependent on the specific surgical task and the control paradigm used by the system.  ... 
doi:10.1109/jproc.2022.3177693 fatcat:4bipw52t7bdy3hejycmrgnlqra

Review of Advanced Medical Telerobots

Sarmad Mehrdad, Fei Liu, Minh Tu Pham, Arnaud Lelevé, S. Farokh Atashzar
2020 Applied Sciences  
In this review paper, we have provided a comprehensive analysis of the literature considering various topologies of telerobotic systems in the medical domain while shedding light on different levels of  ...  autonomy for this technology, starting from direct control, going up to command-tracking autonomous telerobots.  ...  Experimental results on teleoperated object manipulations showed a light preference for the trained solution.  ... 
doi:10.3390/app11010209 fatcat:ts3jlopz3jcwnf2gan75hg7aa4

Human Digital Twin (HDT) Driven Human-Cyber-Physical Systems: Key Technologies and Applications

Baicun Wang, Huiying Zhou, Geng Yang, Xingyu Li, Huayong Yang
2022 Chinese Journal of Mechanical Engineering  
The shared control of a dexterous robotic arm with a braincomputer interface and computer vision guidance has been realized.  ...  control, shared control, and supervisory control [15] .  ... 
doi:10.1186/s10033-022-00680-w doaj:7f9942ffd5464830877d628accaaa4ad fatcat:oqebvom4indizasovkzr52ywim

Design, Modeling, Control, and Application of Everting Vine Robots

Laura H. Blumenschein, Margaret M. Coad, David A. Haggerty, Allison M. Okamura, Elliot W. Hawkes
2020 Frontiers in Robotics and AI  
Third, we report on everting vine robot control and planning techniques that have been developed to move the robot tip to a target, using a variety of modalities to provide reference inputs to the robot  ...  Here we review recent work on robots that "grow" via pressure-driven eversion, referred to as "everting vine robots," due to a movement pattern that is similar to that of natural vines.  ...  ACKNOWLEDGMENTS We thank our many collaborators on everting vine robot research for discussions related to the topics presented here.  ... 
doi:10.3389/frobt.2020.548266 pmid:33501315 pmcid:PMC7805729 fatcat:7wosgy37bve7vhegpkbkczjjvi

Introduction to Haptics for Neurosurgeons

Rachael L'Orsa, Chris J.B. Macnab, Mahdi Tavakoli
2013 Neurosurgery  
Most surgical robots, however, isolate surgeons from the full range of human senses during a procedure.  ...  We not only outline the current and future benefits of haptics but also introduce concepts in the fields of robotic technology and computer control.  ...  The current paradigm of surgical robotics requires the robotic manipulator to follow the position of the surgeon's hand, in which case haptic interfaces need to be added to the existing motion control  ... 
doi:10.1227/neu.0b013e318273a1a3 pmid:23254803 fatcat:jncl22icvvfl3hopiug6kgjj5e


F. Ortiz, B. Álvarez, F. Losilla, D. Rodríguez, N. Ortega
2005 IFAC Proceedings Volumes  
This paper summarises the features of this project and describes the implementation of ACROSET on a hardware platform based on a PLC (Programmed Logic Controller) SIEMENS SIMATIC S7-300 and the Field-Bus  ...  Teleoperated robots are used to perform hazardous tasks that human operators cannot carry out.  ...  One of the teleoperated robots of the project is in a very advanced development state.  ... 
doi:10.3182/20050703-6-cz-1902.01328 fatcat:vrv7x6xn7rf4hech76dn2fxec4

Gesture-based robot control with variable autonomy from the JPL BioSleeve

Michael T. Wolf, Christopher Assad, Matthew T. Vernacchia, Joshua Fromm, Henna L. Jethani
2013 2013 IEEE International Conference on Robotics and Automation  
The BioSleeve control approach has been implemented on three robot types, and we present applicability to mobile ground robots, manipulation robots, and prosthetic hands in proof-of-principle demonstrations  ...  a sleeve worn on the forearm.  ...  This research was conducted at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration.  ... 
doi:10.1109/icra.2013.6630718 dblp:conf/icra/WolfAVFJ13 fatcat:nld5zhwrdfbn5kxkpxt4atgjci

Remote Ultrasound Scan Procedures with Medical Robots: Towards New Perspectives between Medicine and Engineering

Maide Bucolo, Gea Bucolo, Arturo Buscarino, Agata Fiumara, Luigi Fortuna, Salvina Gagliano, Eugenio Guglielmelli
2022 Applied Bionics and Biomechanics  
This review explores state-of-the-art teleoperated robots for medical ultrasound scan procedures, providing a comprehensive look including the recent trends arising from the COVID-19 pandemic.  ...  This contribution is aimed at stimulating new research to obtain faster results on teleoperated robotics for ultrasound diagnostics in response to the high demand raised by the ongoing pandemic.  ...  Using this system, the expert can manipulate a dummy probe, similar to the real probe, allowing rapid control of the robotic arm from a remote location.  ... 
doi:10.1155/2022/1072642 pmid:35154375 pmcid:PMC8832154 fatcat:ehdq53uiqvaezgje5gkola5cla

Augmented Reality for Robotics: A Review

Zhanat Makhataeva, Huseyin Atakan Varol
2020 Robotics  
and control: trajectory generation, robot programming, simulation, and manipulation; (3) Human-robot interaction (HRI): teleoperation, collaborative interfaces, wearable robots, haptic interfaces, brain-computer  ...  interfaces (BCIs), and gaming; (4) Multi-agent systems: use of visual feedback to remotely control drones, robot swarms, and robots with shared workspace.  ...  In [104] , a novel teleoperator interface to remotely control the robot manipulators for nuclear waste cleanup is proposed.  ... 
doi:10.3390/robotics9020021 doaj:a4cff00359374fcf99f0aa2b2771bc3a fatcat:upn3jaifw5barbodr5c2n73ucq

In Touch with Robotics: Neurosurgery for the Future

Narendra Nathoo, M Cenk Çavuşoğlu, Michael A. Vogelbaum, Gene H. Barnett
2005 Neurosurgery  
Although robotic technology may be envisaged for use in a wide range of surgical pro-NEUROSURGERY VOLUME 56 | NUMBER 3 | MARCH 2005 | 421  ...  C, shared control system, in which the robot and surgeon share control of the surgical instrument.  ...  In shared-control systems, the surgeon and robot share control of the surgical instrument ( Fig. 1C) (3, 58) .  ... 
doi:10.1227/ pmid:15730567 fatcat:eo27673refcurclv73omhqrevy

A Reference Control Architecture for Service Robots Implemented on a Climbing Vehicle [chapter]

Francisco Ortiz, Diego Alonso, Bárbara Álvarez, Juan A. Pastor
2005 Lecture Notes in Computer Science  
Teleoperated robots are used to perform hazardous tasks that human operators cannot carry out.  ...  It is also presented the Ada'95 implementation of ACROSET for a climbing robot.  ...  It aims to be a reference architecture for teleoperated service robot control units.  ... 
doi:10.1007/11499909_2 fatcat:5acyync7nzdqvjnou7xf7wrucq

Guest Editorial Special Section on Human-Centered Automation

Meeko M. K. Oishi, Dawn Tilbury, Claire J. Tomlin
2016 IEEE Transactions on Automation Science and Engineering  
A critical domain for human-robot interaction is in robot-assisted surgery, where a surgeon interacts with a master robot, which can either: (i) teleoperate a slave robot to perform surgery or (ii) indicate  ...  In their paper, "Synthesis of Shared Sutonomy Policies With Temporal Logic Specifications," Fu and Topcu present a method for automatically synthesizing a policy which switches control authority between  ... 
doi:10.1109/tase.2015.2503538 fatcat:fz434rj5qrdp5hip4wbdln2bty

Shared planning and control for mobile robots with integral haptic feedback

Carlo Masone, Mostafa Mohammadi, Paolo Robuffo Giordano, Antonio Franchi
2018 The international journal of robotics research  
This paper presents a novel bilateral shared framework for online trajectory generation for mobile robots.  ...  The robot navigates along a dynamic path, represented as a B-spline, whose parameters are jointly controlled by a human supervisor and by an autonomous algorithm.  ...  Related Work and Contributions Shared control is a concept that has first emerged in telerobotics as a paradigm to distribute the control over the execution of a task between operator and teleoperator  ... 
doi:10.1177/0278364918802006 fatcat:kmfvqh3yczcftnac4fk75g7enm

Human-Oriented Control for Haptic Teleoperation

S. Hirche, M. Buss
2012 Proceedings of the IEEE  
Simplified control architecture based on the wave/scattering variable transformation for transparency analysis.  ...  ABSTRACT | Haptic teleoperation enables the human to perform manipulation tasks in distant, scaled, hazardous, or inaccessible environments.  ...  Rank, and A. Peer for their theoretical and experimental contributions in the area of haptic teleoperation control design and human perception models. They would also like to thank W. Jaschik, J.  ... 
doi:10.1109/jproc.2011.2175150 fatcat:53m44o72unesblzczbzx7up33a
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