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Sensorized phantom for characterizing large area deformation of soft bodies for medical applications

Related publications (35)

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Self-Correcting Quadratic Programming-Based Robot Control

Aude Billard, Farshad Khadivar, Konstantinos Chatzilygeroudis

Quadratic Programming (QP)-based controllers allow many robotic systems, such as humanoids, to successfully undertake complex motions and interactions. However, these approaches rely heavily on adequately capturing the underlying model of the environment a ...

2023

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Spatial understanding and communication are essential skills in human interaction. An adequate understanding of others' spatial perspectives can increase the quality of the interaction, both perceptually and cognitively. In this paper, we take the first st ...

New York2022

Dual Stiffness Tensegrity Platform for Resilient Robotics

Dario Floreano, Stefano Mintchev, Yi Sun, Davide Zappetti

Collision resilience is an important feature of robots deployed in unstructured and partially unpredictable environments. Herein, a novel dual stiffness (DS) tensegrity platform to integrate collision resilience into a robot body is proposed. The proposed ...

2022

Action augmentation of tactile perception for soft-body palpation

Josephine Anna Eleanor Hughes

Medical palpation is a diagnostic technique in which physicians use the sense of touch to manipulate the soft human tissue. This can be done to enable the diagnosis of possibly life-threatening conditions, such as cancer. Palpation is still poorly understo ...

Mary Ann Liebert Inc.2022

Optimization of robot configurations for motion planning in industrial riveting

Sylvain Calinon, Hakan Girgin, Teguh Santoso Lembono

Collaborative robots (cobots) have been increasingly used in the industry in recent years. The cobots are often 7-axis kinematically redundant manipulators. Exploiting these redundancies in industrial tasks is still a challenge as the change in the robot j ...

IEEE2021

Safety Concerns Emerging from Robots Navigating in Crowded Pedestrian Areas

Aude Billard, Diego Felipe Paez Granados, Pericle Salvini

The slogan “robots will pervade our environment” has become a reality. Drones and ground robots are used for commercial purposes while semi-autonomous driving systems are standard accessories to traditional cars. However, while our eyes have been riveted o ...

2021

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The Project JUSThink has a double goal: (i), to help train the Computational Thinking skills of children with a collaborative, robot-mediated activity, (ii), to acquire insights about how children detect and solve misunderstandings, and what keeps them eng ...

2020

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The method for controlling a single- or multi- powered robotic system, such as an exoskeleton, a prosthesis or a collaborative robot, that is physically interacting with a user, said system comprising at least one actuated joint; wherein the robot joint(s) ...

2020

From High-Level to Low-Level Robot Learning of Complex Tasks: Leveraging Priors, Metrics and Dynamical Systems

Nadia Barbara Figueroa Fernandez

Humans have a remarkable way of learning, adapting and mastering new manipulation tasks. With the current advances in Machine Learning (ML), the promise of having robots with such capabilities seems to be on the cusp of reality. Transferring human-level sk ...

EPFL2019

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The design of doubly-curved systems called for innovative modelling techniques to evaluate the final geometry of the structure. They can simulate the behaviour of beams under large displacements. Even though it is never analysed, the deformation path is ca ...

International Center for Numerical Methods in Engineering (CIMNE)2019