Robotic Assistance in Medication Intake: A Complete Pipeline

Autor: Ioannis Kostavelis, Andreas Kargakos, Evangelos Skartados, Georgia Peleka, Dimitrios Giakoumis, Iason Sarantopoulos, Ioannis Agriomallos, Zoe Doulgeri, Satoshi Endo, Heiko Stüber, Faris Janjoš, Sandra Hirche, Dimitrios Tzovaras

Publikováno v: Applied Sciences, Vol 12, Iss 3, p 1379 (2022)

During the last few decades, great research endeavors have been applied to healthcare robots, aiming to develop companions that extend the independent living of elderly people. To deploy such robots into the market, it is expected that certain applic

Externí odkaz: https://doaj.org/article/374589273dc0400fa97c5626d48c639f

Improved online DMP spatial generalization and incorporation of dynamic via-points

Autor: Antonis Sidiropoulos, Zoe Doulgeri

Dynamic Movement Primitives (DMP) have found remarkable applicability and success in various robotic tasks, which can be mainly attributed to their generalization, modulation and robustness properties. Nevertheless, the spatial generalization of DMP

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::3b68d756484db0b755e586480f1a14d6
https://doi.org/10.21203/rs.3.rs-2980768/v1

A Robust Controller for Stable 3D Pinching Using Tactile Sensing

Autor: John W. Lloyd, Nicholas Pestell, Efi Psomopoulou, Zoe Doulgeri, Nathan F. Lepora, Fotios Papadopoulos

Publikováno v: Psomopoulou, E, Pestell, N, Papadopoulos, F, Lloyd, J, Doulgeri, Z & Lepora, N F 2021, ' A Robust Controller for Stable 3D Pinching using Tactile Sensing ', IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 8150-8157 . https://doi.org/10.1109/LRA.2021.3104057

This paper proposes a controller for stable grasping of unknown-shaped objects by two robotic fingers with tactile fingertips. The grasp is stabilised by rolling the fingertips on the contact surface and applying a desired grasping force to reach an

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::67bc1537b38d6e4264ff8e1d500c1031
https://doi.org/10.1109/lra.2021.3104057

A Controller to Impose a RCM for Hands-on Robotic-Assisted Minimally Invasive Surgery

Autor: Zoe Doulgeri, Theodora Kastritsi

Publikováno v: IEEE Transactions on Medical Robotics and Bionics. 3:392-401

In Robotic-Assisted Minimally Invasive Surgery a long and thin instrument attached to the robotic arm enters the human body through a tiny incision. To ensure that no injury occurs when the surgeon is manipulating the instrument, the incision point m

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::97f0a39fbd717c1a5f08882e51a98869
https://doi.org/10.1109/tmrb.2021.3077319

A Machine Learning Framework for Real-Time Identification of Successful Snap-Fit Assemblies

Autor: Stefanos Doltsinis, Zoe Doulgeri, Marios Krestenitis

Publikováno v: IEEE Transactions on Automation Science and Engineering. 17:513-523

Snap-fit assemblies are widely used in the manufacturing of several product types, allowing part joining, while the parts remain unprocessed. The locking mechanism of a snap-fit is usually done within the object structure, not allowing visual identif

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::e529898e7a9d2c9a2f2a562db9aebb02
https://doi.org/10.1109/tase.2019.2932834