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Skip to Search Results- 22Electrical and Computer Engineering, Department of
- 13Electrical and Computer Engineering, Department of/Presentations (Electrical and Computer Engineering)
- 8Electrical and Computer Engineering, Department of/Journal Articles (Electrical and Computer Engineering)
- 2Civil and Environmental Engineering, Department of
- 2Civil and Environmental Engineering, Department of/Research Materials (Civil & Environmental Engineering)
- 1Electrical and Computer Engineering, Department of/Research Materials (Electrical and Computer Engineering)
- 6Passivity
- 4Bilateral Teleoperation
- 4Teleoperation
- 3Stability Analysis
- 2Absolute Stability
- 2Force Control
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A Domain-Adapted Machine Learning Approach for Visual Evaluation and Interpretation of Robot-Assisted Surgery Skills
Download2022-01-01
Abed Soleymani, Xingyu Li, Mahdi Tavakoli
In this study, we present an intuitive machine learningbased approach to evaluate and interpret surgical skills level of a participant working with robotic platforms. The proposed method is domain-adapted, i.e., jointly utilizes an end-to-end learning approach for smoothness detection and domain...
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A Low-cost Intrinsically Safe Mechanism for Physical Distancing Between Clinicians and Patients
Download2021-01-01
Abed Soleymani, Ali Torabi, Mahdi Tavakoli
Abed Soleymani, Ali Torabi, Mahdi Tavakoli
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2011-06-21
In a bilateral teleoperation system, conditions involving open-loop model parameters and controller parameters for ensuring teleoperator passivity are useful as control design guidelines to attain maximum teleoperation transparency (due to passivity/transparency tradeoffs). By teleoperator, we...
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2013-01-01
A teleoperation system consists of a teleoperator, a human operator, and a remote environment. Conditions involving system and controller parameters that ensure the teleoperator passivity can serve as control design guidelines to attain maximum teleoperation transparency while maintaining system...
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2013-01-01
Stability of a bilateral teleoperation system may be jeopardized by controller discretization, which has been shown to involve energy leaks. This paper proposes a novel approach to analyzing the absolute stability of sampled-data bilateral teleoperation systems consisting of discrete-time...
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Bilateral Teleoperation System Stability with Non-passive and Strictly-Passive Operator or Environment
Download2015-01-01
A bilateral teleoperation system comprises a human operator, a teleoperator, and an environment. Without exact models for the teleoperator’s terminations (i.e., human operator and the environment), it is typically assumed that they are passive but otherwise arbitrary. Based on this assumption,...
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Dual Mode pHRI-teleHRI Control System with a Hybrid Admittance-Force Controller for Ultrasound Imaging
Download2022-11-03
Teng Li, Xiao Meng, Mahdi Tavakoli
ABSTRACT: The COVID-19 pandemic has brought unprecedented extreme pressure on the medical system due to the physical distance policy, especially for procedures such as ultrasound (US) imaging, which are usually carried out in person. Tele-operation systems are a promising way to avoid physical...
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EMG-based Hybrid Impedance-Force Control for Human-Robot Collaboration on Ultrasound Imaging
Download2022-11-03
Teng Li, Hongjun Xing, Hamid D. Taghirad, Mahdi Tavakoli
ABSTRACT: Ultrasound (US) imaging is a common but physically demanding task in the medical field, and sonographers may need to put in considerable physical effort for producing high-quality US images. During physical human-robot interaction on US imaging, robot compliance is a critical feature...
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2022-11-04
Amir Zakerimanesh, Tony Z. Qiu, Mahdi Tavakoli
Platooning which is defined as controlling a group of autonomous vehicles (multiple followers and one leader) to have a desired distance between them while following a desired trajectory has caught on recently in the control engineering discipline. Platooning brings along promising advantages,...