A5054120877- Tactile and Sensory Interactions
- Teleoperation and Haptic Systems
- Robotics and Sensor-Based Localization
- Micro and Nano Robotics
- Soft Robotics and Applications
- Advanced Vision and Imaging
- Gaze Tracking and Assistive Technology
- Robot Manipulation and Learning
- Modular Robots and Swarm Intelligence
- Hand Gesture Recognition Systems
- Image Processing Techniques and Applications
- Robotic Mechanisms and Dynamics
- Advanced Materials and Mechanics
- Robotic Path Planning Algorithms
- Virtual Reality Applications and Impacts
- Context-Aware Activity Recognition Systems
- Robotics and Automated Systems
- Robotic Locomotion and Control
- Optical measurement and interference techniques
- Molecular Communication and Nanonetworks
- Vascular Malformations Diagnosis and Treatment
- Interactive and Immersive Displays
- Spatial Cognition and Navigation
- Distributed Control Multi-Agent Systems
- Evacuation and Crowd Dynamics
University of Twente
2016-2019
University of Siena
2008-2017
University of Groningen
2017
Johns Hopkins University
2017
University Medical Center Groningen
2017
Italian Institute of Technology
2014
This article presents an open-source MATLAB toolbox for the motion control of KUKA robot manipulators. The Control Toolbox (KCT) is a collection functions developed at Univer sity Siena. toolbox, which compatible with all 6 degrees freedom (DoF) small and low-payload robots that use Eth.RSIXML, runs on remote computer connected controller via transmission Protocol/Internet Protocol (TCP/IP). KCT includes more than 40 functions, spanning operations such as forward inverse kine matics...
Untethered microtools that can be precisely navigated into deep in vivo locations are important for clinical procedures pertinent to minimally invasive surgery and targeted drug delivery. In this mini-review, untethered soft grippers discussed, with an emphasis on a class of autonomous stimuli-responsive gripping tools used excise tissues release drugs controlled manner. The composed polymers hydrogels thus compliant tissues. They using magnetic fields by robotic path-planning strategies...
Independent control of microrobots is a cardinal challenge for manipulation at micro/nano scale. In this paper, we design and assemble an electromagnetic setup to overcome some the major obstacles in independent microrobots. The demanding magnetic requirements are met by presented experimental testbed that able produce fields gradients of, respectively, 160 mT 3.6 T/m center workspace. Through process testbed, analyze importance parameters derive quantitative analysis dissipation generated...
Automated steering of endovascular catheters has a potential improving the outcome minimally invasive surgical procedures. Nevertheless, actuation, tracking, and closed-loop position control remain challenge. In this study, we present modular framework for three-dimensional (3-D) magnetically actuated catheter. The catheter is fitted with permanent magnet deflected using externally generated magnetic field provided by BigMag-An array mobile electromagnets. Pseudorigid-body modeling used to...
The flying hand is a robotic consisting of swarm UAVs able to grasp an object where each UAV contributes the grasping task with single contact point at tooltip. robots teleoperated by human whose fingertip motions are tracked, e.g., using RGB-D camera. We solve kinematic dissimilarity this unique master-slave system multi-layered approach that includes: interpreter translates motion in desired for be manipulated; mapping algorithm transforms into suitable set virtual points deviating from...
The use of small, maneuverable, untethered and reconfigurable robots could provide numerous advantages in various micromanipulation tasks. Examples include microassembly, pick-and-place fragile micro-objects for lab-on-a-chip applications, assisted hatching in-vitro fertilization minimally invasive surgery. This study assesses the potential soft magnetic grippers as alternatives or complements to conventional tethered rigid micromanipulators. We demonstrate closed-loop control automated...
The human hand represents a complex fascinating system with highly sensitive sensory capabilities and dexterous grasping manipulation functionalities. As consequence, estimating the pose at same time having capability to provide haptic feedback in wearable way may benefit areas such as rehabilitation, human-robot interaction, gaming, many more. Existing solutions allow us accurately measure configuration effective force user. However, they have limited wearability/portability. In this paper,...
Trained guide dogs and canes provide the visually impaired with highest degree of independence; however, they are very limited in guiding user towards a specific desired location, especially an unknown environment. The assistance other people represents feasible solution, but it does not improve idea autonomous guidance privacy. In this paper we present remote system which provides haptic directional cues, useful for navigating environments. blind is equipped pair camera glasses, two...
This paper proposes a novel use of haptic feedback for human navigation with mobile robot. Assuming that path-planner has provided robot an obstacle-free trajectory, the vehicle must steer from initial to desired target position by only interacting him/her via custom-designed vibro-tactile bracelet. The subject is free decide his/her own pace and warning vibrational signal generated bracelet when large deviation respect planned trajectory detected vision sensor on-board leads cooperative...
The complexity of the world around us is creating a demand for novel interfaces that will simplify and enhance way we interact with environment. recently unveiled Android Wear operating system addresses this by providing modern all those companies are now developing wearable devices, also known as "wearables". Wearability robotic devices enable forms human intention recognition through haptic signals communication between humans robots. Specifically, haptics to communicate during their...
In this paper we present a new visuo-haptic interaction mechanism for human-robot formation control. The setup consists of human leader and multiple follower robots. mobile robots are equipped only with RGB-D cameras, they should maintain desired distance orientation to the at all times. Mechanical limitations common limit possible trajectories that can take. regard, vibrotactile feedback provided by haptic bracelet guides along feasible team warning her/him when constraints being violated....
Soft miniaturized untethered grippers can be used to manipulate and transport biological material in unstructured tortuous environments. Previous studies on control of soft employed cameras optical images as a feedback modality. However, the use might unsuitable for localizing agents that navigate within human body. In this paper, we demonstrate wireless magnetic motion planning using extracted from B-mode ultrasound images. Results show our system employing with an average tracking error...
In this paper, we present a novel cooperative navigation control for human-robot teams. Assuming that human wants to reach final location in large environment with the help of mobile robot, robot must steer from initial target position. The challenges posed by are typically addressed using haptic feedback via physical interaction. contrast that, describe different approach, which interaction is achieved wearable vibrotactile armbands. proposed work, subject free decide her/his own pace. A...
Robotically-actuated catheters are being employed in endovascular interventions for their improved maneuverability and steering precision over conventional catheters. Fluoroscopy is commonly used to guide such medical devices during interventions. Motivated by the limitations hazards associated with fluoroscopy, this study investigates use of ultrasound images as a viable alternative real-time visualization robotic catheter. In order validate proposed approach, an integrated system developed...
No abstract available.
Human guidance in situations where the users cannot rely on their main sensory modalities, such as assistive or search-and-rescue scenarios, is a challenging task. In this letter, we address problem of guiding along collision-free paths dynamic environments, assuming that they modalities. order to safely guide subjects, adapt optimal reciprocal collision avoidance our specific problem. The proposed algorithm takes into account stimuli which can be displayed and motion uncertainty when...
The Kuka Control Toolbox (KCT) is a collection of MATLAB functions for motion control KUKA robot manipulators, developed to offer an intuitive and high-level programming interface the user. toolbox, which compatible with all 6 DOF small low payload robots that use Eth.RSIXML, runs on remote computer connected controller via TCP/IP. KCT includes more than 30 functions, spanning operations such as forward inverse kinematics computation, point-to-point joint Cartesian control, trajectory...
In this paper we explore a vibrotactile feedback paradigm which allows the human to intuitively interact in human-robot applications. particular focus on haptic bracelet helps move along trajectories that are feasible for leader-follower formation tasks. The consists of three vibrating motors circling forearm and represents non invasive way provide essential information human. Experiments performed public 15 subjects revealed effectiveness proposed device.
The design and control of untethered microrobotic agents has drawn a lot attention in recent years. This technology truly possesses the potential to revolutionize field minimally invasive surgery microassembly. However, miniaturization reliable actuation micro-fabricated grippers are still challenging at sub-millimeter scale. In this study, we design, manufacture, characterize, four similarly-structured semi-rigid thermoresponsive micro-grippers. Furthermore, develop closed loop-control...
Fingertip contact forces are of utmost importance in evaluating the quality human grasp. However, measuring such during object manipulation is not a trivial task. In this paper, we propose novel method to estimate fingertip grasping deformable objects with known shape and stiffness matrix. The proposed approach uses sensing glove instrumented inertial magnetic sensors. Data obtained from accelerometers gyroscopes placed on distal phalanges used determine when fingers establish contacts...
Haptic interfaces in Augmented Reality scenarios are an efficient way to enhance the interaction with a virtual world. We introduce new system that involves both hands object experience. render contemporary shape and weight of object, merged real world environment, using commercial haptic interface kind finger-worn device. test experimental setup where cube is placed over marker. The developed can be used several applications augmented reality rendering only not enough perceive It also lead...