Research
Research
Research
Research
68+ open-access research outputs.
For the past decades medical robotic solutions were mostly based on the concept of tele-manipulation. While their design was extremely intelligent, allowing for better access, improved dexterity, redu…
The propagation of light through a turbulent flow field around an aircraft results in optical distortions commonly known as aero-optic effects. The development of methods to mitigate these effects req…
Camera pipelines receive raw Bayer-format frames that need to be denoised, demosaiced, and often super-resolved. Multiple frames are captured to utilize natural hand tremors and enhance resolution. Mu…
To meet the demands of increasingly diverse dexterous hand hardware, it is crucial to develop a policy that enables zero-shot cross-embodiment grasping without redundant re-learning. Cross-embodiment …
Eating is a daily challenge for over 60 million adults with essential tremors and other mobility limitations. For these users, traditional utensils like forks or spoons are difficult to manipulate -- …
The discovery of constitutive laws for complex materials has historically faced a dichotomy between high-fidelity data-driven approaches, which demand prohibitive full-field experimental data, and tra…
Deep Brain Stimulation (DBS) is a well-established neurosurgical treatment aiming at symptom alleviation in a range of neurological and psychiatric diseases. Computational models of DBS are widely use…
Surgical resection of malignant solid tumors is critically dependent on the surgeon's ability to accurately identify pathological tissue and remove the tumor while preserving surrounding healthy struc…
Robotic assistance in minimally invasive surgery can greatly enhance surgical precision and reduce surgeon fatigue. This paper presents a focused investigation on the kinematic and ergonomic design pr…
Background: Upper-limb weakness and tremor (4--12 Hz) limit activities of daily living (ADL) and reduce adherence to home rehabilitation. Objective: To assess technical feasibility and clinician-relev…
Enabling robots to execute long-horizon manipulation tasks from free-form language instructions remains a fundamental challenge in embodied AI. While vision-language models (VLMs) have shown promise a…
NASA aims to establish a sustainable human basecamp on the Moon as a stepping stone for future missions to Mars and beyond. The discovery of water ice on the Moon's craters located in permanently shad…
A systematic approach for high-speed via transition design is proposed. The effects of via barrel radius, anti-pad size, and the distance from adjacent stitching (GND) vias on bandwidth are analyzed a…
Alpha mining, which discovers signals that predict asset returns, has long been attractive for automatic quantitative investment. This problem is typically formulated as a tree-based symbolic regressi…
Retinal vein cannulation (RVC) is a minimally invasive microsurgical procedure for treating retinal vein occlusion (RVO), a leading cause of vision impairment. However, the small size and fragility of…
Ophthalmic surgical robots offer superior stability and precision by reducing the natural hand tremors of human surgeons, enabling delicate operations in confined surgical spaces. Despite the advancem…
Developing scalable and generalizable reward engineering for reinforcement learning (RL) is crucial for creating general-purpose agents, especially in the challenging domain of robotic manipulation. W…
In this work, we analyze video data and interviews from a public deployment of two trash barrel robots in a large public space to better understand the sensemaking activities people perform when they …
Work zones play a key role in road and highway maintenance but can lead to significant risks to both drivers and workers. Smart Work Zones (SWZs) have emerged as a potential solution, offering decisio…
The accurate modeling of the mechanical behavior of rubber-like materials under multi-axial loading constitutes a long-standing challenge in hyperelastic material modeling. This work employs deep symb…
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