Nikhil Deshpande

Learn More
OBJECTIVES/HYPOTHESIS To introduce a novel computerized surgical system for improved usability, intuitiveness, accuracy, and controllability in robot-assisted laser phonomicrosurgery. STUDY DESIGN Pilot technology assessment. METHODS The novel system was developed involving a newly designed motorized laser micromanipulator, a touch-screen display, and a(More)
Robot manipulator designs are increasingly focused on low cost approaches, especially those envisioned for use in unstructured environments such as households, office spaces and hazardous environments. The cost of angular sensors varies based on the precision offered. For tasks in these environments, millimeter order manipulation errors are unlikely to(More)
Autonomous mobile robots (AMRs) operating in unknown environments face twin challenges: 1) localization and 2) efficient directed navigation. This paper describes a two-tiered approach to solving these challenges: 1) by developing novel wireless-sensor-network (WSN)-based localization methods and 2) by using WSN–AMR interaction for navigation. The goal is(More)
We propose that robot perception is enabled by means of a common sensorimotor semantics arising from a set of symmetry theories (expressed as symmetry detectors and parsers) embedded a priori in each robot. These theories inform the production of structural representations of sensorimotor processes, and these representations, in turn, permit perceptual(More)
Given a set of unknown sensors and actuators, sensorimotor reconstruction is achieved by exploiting relations between the sensor data and the actuator control data to determine sets of similar sensors, sets of similar actuators, necessary relations between them, as well as sensorimotor relations to the environment. Several authors have addressed this(More)
With proper calibration of its color and depth cameras, the Kinect can capture detailed color point clouds at up to 30 frames per second. This capability positions the Kinect for use in robotics as a low-cost navigation sensor. Thus, techniques for efficiently calibrating the Kinect depth camera and altering its optical system to improve suitability for(More)
This paper proposes a novel scheme for target localization using a deployed wireless sensor network (WSN). The goal is to have mobile autonomous robots navigate from any point within the WSN-covered region to an identified target through interaction with the WSN. Reaching the target is achieved in two ways, by: (i) producing gradients in the WSN region that(More)
Robot-assisted surgical procedures, such as Laser Phonomicrosurgery (LP), suffer from susceptibility to variation in surgeon skill and equipment characteristics. Ergonomic and human-centered approaches acquire increased importance in the design of surgeon-machine interfaces. This paper proposes a protocol for comparative evaluation of surgeon-machine(More)