There is an emerging trend toward soft robotics due to its extended manipulation capabilities compared traditionally rigid robot links, showing promise for applicability new areas. However, as a result of the inherent property being less rigid, ability control/obtain higher overall stiffness when required yet be further explored. In this letter, innovative design introduced which allows varying continuum silicon-based manipulator and proves have potential applications in Minimally Invasive...

Robotic manipulators for Robot-assisted Minimally Invasive Surgery (RMIS) pass through small incisions into the patient's body and interact with soft internal organs. The performance of traditional robotic such as da Vinci System is limited due to insufficient flexibility manipulator lack haptic feedback. Modern surgical have taken inspiration from biology e.g. snakes or octopus. In order flexible arms reconfigure itself control its pose respect organs well provide feedback surgeon, tactile...

This paper introduces an optical based three axis force sensor which can be integrated with the robot arm of EU project STIFF-FLOP (STIFFness controllable Flexible and Learnable Manipulator for Surgical Operations) in order to measure applied external forces. The structure is free metal components electric circuits and, hence, inherently safe near patients during surgical operations. In addition, this feature makes performance sensing system immune against strong magnetic fields inside...

Flexible soft and stiffness-controllable surgical manipulators enhance the manoeuvrability of tools during Minimally Invasive Surgery (MIS), as opposed to conventional rigid laparoscopic instruments. These flexible robotic systems allow bending around organs, navigating through complex anatomical pathways inside human body interacting inherently safe with its environment. Shape sensing in such is a challenge one essential requirement for precise position feedback control robots. This paper...

This paper presents an innovative approach of utilising visual feedback to determine physical interaction forces with soft tissue during Minimally Invasive Surgery (MIS). novel force sensing device is composed a linear retractable mechanism and spherical feature. The sensor can be adapted endoscopic cameras used in MIS. As the distance between camera feature varies due sliding joint, anatomical surfaces computed based on appearance image. Hence, this allows measurement without introducing...

We present a control-based approach for visual navigation of humanoid robots in office-like environments. In particular, the objective is to follow maze corridors, walking as close possible their center maximize motion safety. Our control algorithm inspired by technique originally designed unicycle and extended here cope with presence turns junctions. The feedback signals computed are transformed inputs that suited locomotion system humanoid, producing natural, human-like behavior....

This paper presents a novel three-axis force sensor based on optical photo interrupters and integrated with the robot arm STIFF-FLOP (STIFFness controllable Flexible Learnable Manipulator for Surgical Operations) to measure external interacting forces torques. The ring-shape bio-compatible presented here embeds distributed actuation sensing system of manipulator is applicable geometry its structure as well any other similar soft robotic manipulator. Design calibration procedures device are...

Robots navigating in a robot–human coexisting environment need to optimize their paths not only for task-related performance (e.g. safety and efficiency) but also social compliance other pedestrians. This is crucial yet challenging task. Previous work has shown the power of deep reinforcement learning (DRL) techniques by employing them train efficient policies robot navigation. However, deteriorates when crowd size grows. We cope with this problem allowing keep an adapting distance from...

Current surgical tele-manipulators do not provide explicit haptic feedback during soft tissue palpation. Haptic information could improve the clinical outcomes significantly and help to detect hard inclusions within soft-tissue organs indicating potential abnormalities. However, system instability is often caught by direct force feedback. In this paper, a new approach intra-operative tumor localization introduced. A virtual-environment model created based on reconstructed surface of organ...

This paper explores a novel stiffness sensor which is mounted on the tip of laparoscopic camera. The proposed device able to compute when interacting with soft surfaces. can be used in Minimally Invasive Surgery, for instance, localise tumor tissue commonly has higher compared healthy tissue. purely mechanical structure utilizes functionality an endoscopic camera maximum by visually analyzing behavior trackers within field view. Two pairs spheres (used as easily identifiable features images)...

This paper presents an innovative hand-held device able to compute stiffness when interacting with a soft object. The is composed of four linear indenters and USB camera. computed in real-time, tracking the movements spherical features image Those relate surface. Since are connected springs different spring constants, displacement varies proposed multi-indenting allows measuring object's as well pan tilt angles between sensor surface Tests were performed evaluate accuracy palpation mechanism...

Proximity and distance estimation sensors are broadly used in robotic hands to enhance the quality of grasping during grasp planning, correction in-hand manipulation. This paper presents a fiber optical proximity sensor that is integrated with tactile sensing fingertip hand mobile robot. The typically influenced by reflective properties an object, such as color or surface roughness. With approach proposed this paper, accuracy enhanced using information collected vision system A camera...

This paper presents new findings concerning a hand-held stiffness probe for the medical diagnosis of abnormalities during palpation soft-tissue. Palpation is recognized by community as an essential and low-cost method to detect diagnose disease in However, differences are often subtle clinicians need train many years before they can conduct reliable diagnosis. The presented here fills this gap providing means easily obtain values soft tissue procedure. Our sensor equipped with multi degree...

Neural networks are discrete entities: subdivided into layers and parametrized by weights which iteratively optimized via difference equations. Recent work proposes with layer outputs no longer quantized but solutions of an ordinary differential equation (ODE); however, these still methods (e.g. gradient descent). In this paper, we explore a different direction: namely, propose novel framework for learning in the parameters themselves ODEs. By viewing optimization process as evolution...

Soft robotics have opened a new field of flexible and dexterous manipulators. However, actuators to maximize robot's workspace remain in their infancy. For snake-like robot, actuation is emphasized on joint bending, which the control bending angle curvature. State art can only independently one two. This paper presents granular jamming integrated actuator (JIA) both curvature independently. The JIA achieves this with its design, consists granular-filled, bellowed walled membrane wrapped...

Mobile robots operating in public environments require the ability to navigate among humans and obstacles a socially compliant safe manner. Previous work has shown power of deep reinforcement learning (DRL) techniques by employing them train efficient policies for robot navigation. However, most DRL-based navigation methods only consider dynamic pedestrians do not take static into account. The approach differently will improve robot's efficiency. In this work, we propose novel network,...

Globally, we face several grand challenges that require multi-disciplinary, cross-boundary approaches for successful solutions and their implementations. Engineers scientists play a large role in helping solve these complex problems. It is now widely accepted an inclusive diverse workplace inherently attracts top talent which needed to the face. In this context, note although women make up almost 50% of global population, they are greatly under-represented engineering many scientific...

Since direct manual palpation is not possible in minimally invasive procedures, there an active field of applied research which aims to retrieve the human sense touch and feedback tissue properties through artificial tactile feedback. This paper presents innovative stiffness sensor be embedded at tip a commercial endoscopic camera. The structure based on multiple cantilever beams, act as springs with different when indented into soft tissue. Geometric features mounted beams are tracked...

Neural networks are discrete entities: subdivided into layers and parametrized by weights which iteratively optimized via difference equations. Recent work proposes with layer outputs no longer quantized but solutions of an ordinary differential equation (ODE); however, these still methods (e.g. gradient descent). In this paper, we explore a different direction: namely, propose novel framework for learning in the parameters themselves ODEs. By viewing optimization process as evolution...

This paper presents a novel identification procedure for class of hybrid dynamical systems. In particular, we consider systems which are single flowed and jumped whose flow jump maps linearly depend on two sets unknown parameters. A systematic way to determine whether the system is flowing or jumping introduced used identify parameters by employing linear recursive estimator. Simulations have been performed prove validity proposed methodology. Results proved efficiency accuracy developed procedure.