Toward the Development of a Hand-Held Surgical Robot for Laparoscopy
Publications associées (51)
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Model-based reinforcement learning for robot control offers the advantages of overcoming concerns on data collection and iterative processes for policy improvement in model-free methods. However, both methods use exploration strategy relying on heuristics ...
The sense of touch can provide a robot with a wealth of information about the contact region when interacting with an unknown environment. Nevertheless, utilizing touch information to plan exploration paths and adjust robot posture to improve task efficien ...
ELSEVIER2023
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The beta spectrum of the main transition of the 171Tm was measured using a double focalizing spectrometer. The instrument was lately improved in order to reduce its low energy threshold to 34 keV. We used the spectrometer to measure the energy end-point of ...
2023
Grasping and manipulation are challenging tasks that are nonetheless critical for many robotic systems and applications. A century ago, robots were conceived as humanoid automata. While conceptual at the time, this viewpoint remains influential today. Many ...
FRONTIERS MEDIA SA2021
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A hollow variable stiffness thread including a flexible inner tube, a conductive shape memory polymer (CSMP) layer arranged around the inner tube forming a variable stiffness zone, a flexible encapsulation layer arranged around the CSMP layer, and a first ...
2023
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Foot devices have been ubiquitously used in surgery to control surgical equipment. Most common applications are foot switches for electro-surgery, endoscope positioning and tele-robotic consoles. Switches fall short of providing continuous control as requi ...
2021
In recent years, a new additive manufacturing technology Melt Electrowriting (MEW) has become attractive, especially for biomedical applications, and it has potential in many other fields as well. In order to carry out an in-depth study of melt electrowrit ...
2021
Ce chapitre passe en revue les instruments de la politique environnementale: types d'instruments et qualités de ces instruments (effectivité, efficacité, équité, faisabilité). Nombreux exemples tirés de la politique climatique suisse. ...
Editions Slatkine2022
Satoshi Takahama and Nikunj Dudani, two scientists at EPFL’s Laboratory of Atmospheric Processes and their Impacts (LAPI), have developed an innovative system that could replace the array of instruments typically used to measure air quality by a single dev ...
2021
This thesis develops novel multi-degrees-of-freedom flexure-based force sensors by exploiting white light interferometry. Fabry-Pérot interferometry measurement has nanometric accuracy which yields sub milli-Newton force sensing accuracy. Such force sensin ...
