• Publications
  • Influence
High-performance robotic muscles from conductive nylon sewing thread
TLDR
This paper develops a thermomechanical and thermoelectric model of super-coiled polymer actuators, and examines their controllability, and uses them in a robotic hand to demonstrate their applicability as a low-cost, high performance robotic muscle. Expand
Model-Less Feedback Control of Continuum Manipulators in Constrained Environments
TLDR
This work uses an optimal control strategy on a tendon-driven robot to demonstrate model-less control, which allows the manipulator to interact with several constrained environments in a stable manner and is the first work in controlling continuum manipulators without using a model. Expand
On the Control and Properties of Supercoiled Polymer Artificial Muscles
TLDR
This paper describes the working principle of supercoiled polymer (SCP) actuation and explores the controllability and properties of these threads, showing that under appropriate environmental conditions, the threads are suitable as a building block for a controllable artificial muscle. Expand
Motion Planning Networks
TLDR
This work presents Motion Planning Networks (MPNet), a neural network-based novel planning algorithm that encodes the given workspaces directly from a point cloud measurement and generates the end-to-end collision-free paths for the given start and goal configurations. Expand
Tissue Tracking and Registration for Image-Guided Surgery
TLDR
An integrated framework for accurately tracking tissue in surgical stereo-cameras at real-time speeds is presented and the salient feature framework is extended to support region tracking in order to maintain the spatial correspondence of a tracked region of tissue or a medical image registration to the surrounding tissue. Expand
Learning-Based Proxy Collision Detection for Robot Motion Planning Applications
TLDR
This article proposes Fastron, a learning-based algorithm, to model a robot's configuration space to be used as a proxy collision detector in place of standard geometric collision checkers, and shows its application toward autonomous surgical assistance task in shared environments with human-controlled manipulators. Expand
Open-Sourced Reinforcement Learning Environments for Surgical Robotics
TLDR
dVRL is seen as enabling the broad surgical robotics community to fully leverage the newest strategies in reinforcement learning, and for reinforcement learning scientists with no knowledge of surgical robotics to test and develop new algorithms that can solve the real-world, high-impact challenges in autonomous surgery. Expand
Six Degree-of-Freedom Measurements of Human Mild Traumatic Brain Injury
TLDR
Results suggest head rotation measurements may improve injury prediction, but more 6DOF data is needed to confirm this evaluation of existing injury criteria, and to develop new criteria that considers directional sensitivity to injury. Expand
Modeling and Inverse Compensation of Hysteresis in Supercoiled Polymer Artificial Muscles
TLDR
Three new models are formulated to characterize the hysteresis relationship between three coupled variables (voltage input, strain, and load) of an SCP actuator, namely the augmented generalized Prandtl–Ishlinskii model, the augmented Preisach model, and the augmented linear model. Expand
A Robust Uniaxial Force Sensor for Minimally Invasive Surgery
TLDR
In vivo tests provide the first endocardial measurements of tissue-minimally invasive surgery instrument interaction forces in a beating heart, and uses a nonlinear viscoelastic method. Expand
...
1
2
3
4
5
...