A5056537333- Soft Robotics and Applications
- CCD and CMOS Imaging Sensors
- Surgical Simulation and Training
- Augmented Reality Applications
- Teleoperation and Haptic Systems
- Robot Manipulation and Learning
- Tactile and Sensory Interactions
- Particle Detector Development and Performance
- Particle physics theoretical and experimental studies
- Neuroscience and Neural Engineering
- Neural dynamics and brain function
- High-Energy Particle Collisions Research
- Prosthetics and Rehabilitation Robotics
- Quantum Chromodynamics and Particle Interactions
- Context-Aware Activity Recognition Systems
- Cardiac and Coronary Surgery Techniques
- Hydraulic and Pneumatic Systems
- Stroke Rehabilitation and Recovery
- Advanced Vision and Imaging
- EEG and Brain-Computer Interfaces
- Robotic Locomotion and Control
- Optical Imaging and Spectroscopy Techniques
- Anatomy and Medical Technology
- Advanced Fluorescence Microscopy Techniques
- Muscle activation and electromyography studies
Politecnico di Milano
2015-2025
Jiangsu University of Science and Technology
2024
South China University of Technology
2020
Istituto Nazionale di Fisica Nucleare, Sezione di Milano
2014-2016
University of Milan
2015
European Organization for Nuclear Research
2014
University of Birmingham
2007
Tsinghua University
2006
Robots are expanding from industrial applications to daily life, in areas such as medical robotics, rehabilitative social and mobile/aerial robotics systems. In recent years, augmented reality (AR) has been integrated into many robotic applications, including medical, industrial, human–robot interactions, collaboration scenarios. this work, AR for both robot is reviewed summarized. For we investigated the integration of (1) preoperative surgical task planning; (2) image-guided surgery; (3)...
This work presents an optimization-based variable impedance control strategy for controlling a robotic manipulator in medical contact tasks. Specifically, the optimal robot stiffness performing task is obtained using online Quadratic Programming (QP). In meantime, energy tank approach incorporated into loop to regulate system's passivity. To verify performance of proposed strategy, experiments are conducted on both " <italic xmlns:mml="http://www.w3.org/1998/Math/MathML"...
Mobile medical robots have been widely used in various structured scenarios, such as hospital drug delivery, public area disinfection, and examinations. Considering the challenge of environment modeling controller design, how to achieve information from human demonstration a directly arouse our interests. Learning skills is powerful way that can reduce complexity algorithm searching space. This especially true when naturally acquiring new skills, mobile robot must learn interaction with...
Advancements in robotic systems hold significant promise for enhancing spinal interventions. Despite this potential, the integration of platforms spine surgeries remains limited to only a few procedures. This paper presents variable impedance control scheme within shared-control framework enhance haptic feedback during surgeries. The system allows surgeons guide robot while dynamically adjusting stiffness based on contact forces and human intent, using electromyography signals. adaptive...
Spinal intervention can benefit from advancements in robotic systems, particularly the field of Human-Robot Interaction (HRI). Despite promising potential these technologies, their integration into spine surgeries remains relatively limited, comprising mainly only selected procedures. Meanwhile, complex and time-consuming procedures, such as osteotomy, continue to be performed manually, significantly impacting surgeon workload stress. This paper introduces a system assist surgeons during...
We present first measurements of the pseudorapidity and azimuth (η, ϕ) bin-size dependence event-wise mean transverse-momentum ⟨pt⟩ fluctuations for Au–Au collisions at GeV. invert that to obtain pt autocorrelations on differences (ηΔ, ϕΔ) interpreted represent velocity/temperature distributions ϕ). The general form suggests basic correlation mechanism is parton fragmentation. vary rapidly with collision centrality, which fragmentation strongly modified by a dissipative medium in more...
This paper presents an Augmented Reality (AR)assisted robot learning framework for Minimally Invasive Surgery (MIS) tasks. The proposed exploits external optical tracking system to collect human demonstration. Gaussian Mixture Model (GMM) and Regression (GMR) are utilized encode generate a robust desired trajectory transferring the real MIS task. HoloLens 2 Head-Mounted-Display (HMD) is integrated intuitive visualization of configuration under constraint small incision on patient's abdominal...
We present the first study of energy dependence $p_t$ angular correlations inferred from event-wise mean transverse momentum $<p_{t} >$ fluctuations in heavy ion collisions. compare our large-acceptance measurements at CM energies $\sqrt{s_{NN}} =$ 19.6, 62.4, 130 and 200 GeV to SPS 12.3 17.3 GeV. correlation structure suggests that principal source is minijets (minimum-bias parton fragments). observe a dramatic increase RHIC energies, increasing linearly with $\ln \sqrt{s_{NN}}$ onset...
Exoscopes are a promising tool for neurosurgeons, offering improved visualisation and ergonomics compared with traditional surgical microscopes. They consist of an external scope that projects the field onto 2D or 3D monitor, providing wider view better access to site. Despite advantages, exoscopes present some limitations, such as need manual foot joystick repositioning, which can disrupt flow procedure increase risk user error. In this study, markerless visual-servoing approach autonomous...
During percutaneous nephrolithotomy (PCNL) operations, the surgeon is required to define incision point on patient's back, align needle a preplanned path, and perform puncture operations afterward. The procedure currently performed manually using ultrasound or fluoroscopy imaging for orientation, which, however, implies limited accuracy low reproducibility. This work incorporates augmented reality (AR) visualization with an optical see-through head-mounted display (OST-HMD) human–robot...
Bionic hands have been employed in a wide range of applications, including prosthetics, robotic grasping, and human–robot interaction. However, considering the underactuated nonlinear characteristics, as well mechanical structure’s backlash, achieving natural intuitive teleoperation control an bionic hand remains critical issue. In this paper, using wearable vision-tracking system-based methods is investigated. Firstly, behaviour observed kinematics model formulated. Then,...
Under-actuated bionic hands have achieved tremendous popularity in many fields because of their advantages lightweight, budget-friendly, satisfactory flexibility, and adaptability. Except for the mechanical design, various anthropomorphic control strategies been proposed investigated last decades. However, due to its under-actuated characteristic, there are still challenges all degrees freedom (DOFs) using less input. It is challenging map human hand kinematic synergies on robotic hands,...
When using a force feedback device to interact with virtual world, the effect of immersion is highly dependent on its performance gravity compensation. In this work, an active and passive combined compensation approach presented for horizontally mounted 6-DOF hybrid (HFFD-6). Both methods are analyzed simulation corresponding parameters in then optimized. And evaluate approach, physical experiments also conducted measure errors workspace. Moreover, comparison studies illustrate superiority...
Considering the lack of autonomy and uncertainties external environment, manipulating robots in an unstructured environment remains a critical issue. By combining human intelligence, teleoperation control has been considered as significant solution for enhancing manipulation capability. In this paper, whole-body spatial strategy hexapod robot is investigated. Firstly, forward inverse kinematics modeling leg analyzed. addition, three gaits planning, namely straight, swivel, transverse gaits,...
Exoscopes have emerged as a promising visual solution within the field of microneurosurgery. However, manual repositioning poses challenge causing interruptions that disrupt surgical flow. Thus, need for hands-free exoscope control arises. This paper introduces position-based visual-servoing approach, comprising detection module, hybrid tracking and module adjusts robotic camera holder to follow tool. The was integrated track predict tool's future position minimize system latency. proposed...
During Percutaneous Nephrolithotomy (PCNL) operations, the surgeon is required to define incision point on patient's back, align needle a pre-planned path, and perform puncture operations afterward. The procedure currently performed manually using ultrasound or fluoroscopy imaging for orientation, which, however, implies limited accuracy low reproducibility. This work incorporates Augmented Reality (AR) visualization with an optical see-through head-mounted display (OST-HMD) Human-Robot...
In Location-Based Services (LBS), such as food delivery, a fundamental task is segmenting Areas of Interest (AOIs), aiming at partitioning the urban geographical spaces into non-overlapping regions. Traditional AOI segmentation algorithms primarily rely on road networks to partition areas. While promising in modeling geo-semantics, network-based models overlooked service-semantic goals (e.g., workload equality) LBS service. this paper, we point out that problem can be naturally formulated...
We present the first results of a tracking system prototype using artificial retina algorithm for fast track finding. The is based on extensive parallelization and interconnectivity, allows real-time with offline-like quality latency < 1 μs. has been implemented novel custom data acquisition board, commercial FPGAs, that we have designed constructed. architecture organized in three main blocks: switch parallel distribution hits, pool engines digital processing block parameter calculations....
We report on the R\&D for a first prototype of silicon tracker based an alternative approach fast track finding. The working principle is inspired from neurobiology, in particular by processing visual images brain as it happens nature. It extensive parallelisation data distribution and pattern recognition. In this work we present design practical device that consists telescope single-sided detectors; describe acquisition system implementation finding algorithms using available digital logic...
The integrated Design System of waterjet and its design example are briefly presented including 3-D inverse pump, CAD parametric modeling inlet duct, Navier-Stokes flow analysis pump duct Finite Element Analysis pump. After iteratively optimization based on the CFD analysis, final were manufactured. results bench test simulation discussed briefly, errors Head Power between below 4% in whole calculating region. In order to prove validity system, new was also installed after ship for official...