Force-based Robot Learning from Demonstration for Soft Tissue Manipulation

May 14, 2024·
Alaa Eldin Abdelaal
Jiaying Fang
Jiaying Fang
,
Tim N. Reinhart
,
Jacob A. Mejia
,
Tony Z. Zhao
,
Chelsea Finn
,
Jeannette Bohg
,
Allison M. Okamura
· 0 min read
Autonomous Tissue Retraction with Haptic Feedback
Abstract
We hypothesize that force-aware autonomous systems will have higher success rate and be more gentle with tissue in surgical robotics tasks requiring physical interaction, compared to force-agnostic ones. This work validates this hypothesis using imitation learning.
Publication
Stanford Human-Centered Artificial Intelligence at Five Conference
Haptic Feedback Imitation Learning Surgical Robotics
Jiaying Fang
Authors
Jiaying Fang
MS EE Student