— We propose a new method of tactile sensing for a fingertip of robotic hand based on the analysis of the mechanical constraints imposed to the contact between the fingertip an...
A practical method is proposed for estimating the inertial parameters of robot manipulators with substantial unmodeled joint friction and actuator dynamics. The manipulator is mou...
Guangjun Liu, Karl Iagnemma, Steven Dubowsky, Guil...
In this paper, we concentrate on the design of a new whole-sensitive robot arm enabling torque measurement in each joint by means of developed optical torque sensors. When the con...
Minimally invasive surgery (MIS) involves a multidimensional series of tasks requiring a synthesis between visual information and the kinematics and dynamics of the surgical tools...
Jacob Rosen, Jeffrey D. Brown, Lily Chang, Marco B...