• Publications
  • Influence
Robot programming by demonstration
The presented paper shows a pilot development of a robot ‘task programming method’. In this method, the user programs the robot task by demonstrating it (Programming by Demonstration, PbD). PbD isExpand
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Introducing BigMag — A novel system for 3D magnetic actuation of flexible surgical manipulators
Magnetic interaction can be utilized for remote actuation of surgical manipulators. However, platforms currently available for that purpose have limited workspaces, inadequate field strength or veryExpand
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Internal and external force-based impedance control for cooperative manipulation
An asymptotically stable cascaded control algorithm is proposed for cooperative manipulation of a common object. This algorithm controls motion and internal forces of the object, as well as theExpand
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Time Delay Compensation in Bilateral Teleoperations Using IMPACT
Teleoperated systems may be subject to destabilizing and performance degrading effects due to time delays. An appealing remedy is an application of the internal model principle and control togetherExpand
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An application of IMPACT structure to bilateral teleoperations
Time-delays typically cause stability and performance problems in teleoperation systems. As a remedy for such problems in position-error based bilateral teleoperations, a control algorithm isExpand
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Independent and Leader–Follower Control for Two Magnetic Micro-Agents
  • A. Denasi, S. Misra
  • Computer Science, Engineering
  • IEEE Robotics and Automation Letters
  • 2018
Microrobotics is a promising field that can revolutionize fields such as minimally invasive surgery. Applications such as micromanipulation can be performed more effectively using multiple microsizedExpand
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Model predictive control of a robotically actuated delivery sheath for beating heart compensation
Minimally invasive surgery (MIS) during cardiovascular interventions reduces trauma and enables the treatment of high-risk patients who were initially denied surgery. However, restricted access,Expand
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A Multi-Rate State Observer for Visual Tracking of Magnetic Micro-Agents Using 2D Slow Medical Imaging Modalities
  • M. Kaya, A. Denasi, +4 authors S. Misra
  • Computer Science
  • IEEE/RSJ International Conference on Intelligent…
  • 1 October 2018
Minimally invasive surgery can benefit greatly from utilizing micro-agents. These miniaturized agents need to be clearly visualized and precisely controlled to ensure the success of the surgery.Expand
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Teleoperated and cooperative robotics : a performance oriented control design
The interaction problems for single and multi robot systems as well as teleoperation are introduced first in this chapter. Then, the cases for single and multiple manipulators and teleoperation areExpand
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An Observer-Based Fusion Method Using Multicore Optical Shape Sensors and Ultrasound Images for Magnetically-Actuated Catheters
Minimally invasive surgery involves using flexible medical instruments such as endoscopes and catheters. Magnetically actuated catheters can provide improved steering precision over conventionalExpand
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