Publications associées à Téléprésence

Liquid Metal-Based Sensor Skin Enabling Haptic Perception of Softness

Stéphanie Lacour, Ivan Furfaro, Emilio Fernández Lavado, Haotian Chen

Haptic perception of softness is a unique feature of the human skin that relies on the concurrent measurements of the lateral deformation and compression of the skin during object manipulation. This is challenging to implement in robotics because of combin ...

2023

Foot Control of a Surgical Laparoscopic Gripper via 5DoF Haptic Robotic Platform: Design, Dynamics and Haptic Shared Control

Aude Billard, Mohamed Bouri, Walid Amanhoud, Jacob Hernandez Sanchez

Foot devices have been ubiquitously used in surgery to control surgical equipment. Most common applications are foot switches for electro-surgery, endoscope positioning and tele-robotic consoles. Switches fall short of providing continuous control as requi ...

2021

Flexible Disaster Response of Tomorrow: Final Presentation and Evaluation of the CENTAURO System

Xi Chen, Fabian Maximilian Schilling

Mobile manipulation robots have great potential for roles in support of rescuers on disaster-response missions. Robots can operate in places too dangerous for humans and therefore can assist in accomplishing hazardous tasks while their human operators work ...

2019

Brain-Computer Interface meets ROS: A robotic approach to mentally drive telepresence robots

Luca Tonin, Andrea Cimolato

This paper shows and evaluates a novel approach to integrate a non-invasive Brain-Computer Interface (BCI) with the Robot Operating System (ROS) to mentally drive a telepresence robot. Controlling a mobile device by using human brain signals might improve ...

IEEE COMPUTER SOC2018

Comparative Study of Haptic Interfaces for Bilateral Teleoperation of VTOL Aerial Robots

Felix Stephan Schill

Force feedback is a powerful sensory cue that can provide a user, remotely teleoperating a vertical takeoff and landing (VTOL) aerial robotic vehicle, with an enhanced perception of the robot motion and interaction with the local environment. The accepted ...

Ieee-Inst Electrical Electronics Engineers Inc2016

Multi-contact haptic exploration and grasping with tactile sensors

Aude Billard, Nicolas Sommer

Haptic exploration has received a great deal of attention of late thanks to the variety of commercially available tactile sensors. While the majority of previous works consider control of a single contact point at a time, we tackle simultaneous control of ...

Elsevier2016

Design, manufacturing and implementation of a novel 2-axis force sensor for haptic applications

Reymond Clavel

Minimally invasive surgeries on the lungs have eliminated the ability for surgeons to place their hands on the patient's organ to feel for abnormalities. Therefore, in this paper, a force sensor for 2 degrees of freedom haptic applications is described. It ...

Elsevier Science Sa2014

Visual and Force Feedback Time-Delays Change Telepresence: Quantitative Evidence from Crossmodal Congruecy Task

Olaf Blanke, Hannes Bleuler, Michiel van Elk

In the field of surgical robotics, it is difficult to find objective assessment techniques for evaluating telepresence. In this study we try to merge the concepts from cognitive neuroscience more specifically from the field of tool incorporation (embodimen ...

Ieee2013

A Hybrid BCI for Enhanced Control of a Telepresence Robot

José del Rocio Millán Ruiz, Robert Leeb, Serafeim Perdikis, Luca Tonin, Tom Edward Carlson

Motor-disabled end users have successfully driven a telepresence robot in a complex environment using a Brain-Computer Interface (BCI). However, to facilitate the interaction aspect that underpins the notion of telepresence, users must be able to voluntari ...

2013

Transferring brain-computer interfaces beyond the laboratory: Successful application control for motor-disabled users

José del Rocio Millán Ruiz, Robert Leeb, Serafeim Perdikis, Luca Tonin, Tom Edward Carlson, Andrea Biasiucci, Michele Tavella, Alberto Molina Arribere, Marco Creatura

OBJECTIVES: Brain-computer interfaces (BCIs) are no longer only used by healthy participants under controlled conditions in laboratory environments, but also by patients and end-users, controlling applications in their homes or clinics, without the BCI exp ...

Elsevier2013

BCI Telepresence: A Six Patient Evaluation

José del Rocio Millán Ruiz, Robert Leeb, Luca Tonin, Tom Edward Carlson

In this paper we present the results of six motor-disabled patients manoeuvring a telepresence robot via a BCI. Remarkably, although five of the patients had never visited the location where the telepresence robot was operating, they achieved similar perfo ...

2012

Increasing Haptic Fidelity and Ergonomics in Teleoperated Surgery

Laura Santos Carreras

Over the past few decades, surgical procedures have made enormous progress, shifting from traditional open procedures to less and less invasive approaches, with the promise of smaller incisions, less complications, better cosmetic results and shorter recov ...

EPFL2012

Tactile Feedback Improves Performance in a Palpation Task: Results in a VR-Based Testbed

Hannes Bleuler, Roger Gassert, Evren Samur, Laura Santos Carreras, Kaspar Leuenberger

Robotic surgery provides many benefits such as reduced invasiveness and increased dexterity. This comes at the cost of no direct contact between surgeon and patient This physical separation prevents surgeons from performing direct haptic exploration of tis ...

Mit Press2012

Self-sensing of linear short-stroke actuators for multi-finger haptic interfaces using induced high frequency oscillations

Yves Perriard, Grégory Savioz

With the aim of providing a new touch sensation to the user, the design of innovative multi-finger haptic devices passes through the research for efficient and low-cost methods for position sensing. This paper thus addresses a novel self-sensing method for ...

IEEE2012

Augmented White Cane with Multimodal Haptic Feedback

Hannes Bleuler, Roger Gassert, Dominique Chapuis, Laura Santos Carreras, Simon Gallo

This paper proposes an instrumented handle with multimodal augmented haptic feedback, which can be integrated into a conventional white cane to extend the haptic exploration range of visually impaired users. The information extracted from the environment t ...

IEEE2010

Multimodal Speaker Localization from Omnidirectional Videos

Jean-Philippe Thiran, Mihai Gurban, Pascal Reuse

The use of omnidirectional cameras for videoconferencing promises to simplify the hardware setup necessary for large groups of participants. We investigate the use of a multimodal speaker detection algorithm on audio-visual sequences captured with such a c ...

2009