Planning for Multi-stage Forceful Manipulation

Holladay, Rachel; Lozano-Pérez, Tomás; Rodríguez, Alberto

doi:10.48550/arxiv.2101.02679

Cited by 2 publications

(2 citation statements)

References 30 publications

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“…For the learning of force-relevant skills, a great variety of previous studies in robotic manipulation focused on learning the relation between force information and other task-related variables, such as the position and velocity [47], the surface electromyography [48], the task states and constraints [49], and the desired impedance [50][51][52]. A multi-modal representation method for contact-rich tasks has been proposed in ref.…”

Section: Learning Of the Ultrasound Scanning Skillsmentioning

confidence: 99%

Learning Robotic Ultrasound Skills from Human Demonstrations

Li¹,

Deng²

2022

Cognitive Robotics and Adaptive Behaviors

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Robotic ultrasound system plays a vital role in assisting or even replacing sonographers in some cases. However, modeling and learning ultrasound skills from professional sonographers are still challenging tasks that hinder the development of ultrasound systems’ autonomy. To solve these problems, we propose a learning-based framework to acquire ultrasound scanning skills from human demonstrations1. First, ultrasound scanning skills are encapsulated into a high-dimensional multi-modal model, which takes ultrasound images, probe pose, and contact force into account. The model’s parameters can be learned from clinical ultrasound data demonstrated by professional sonographers. Second, the target function of autonomous ultrasound examinations is proposed, which can be solved roughly by the sampling-based strategy. The sonographers’ ultrasound skills can be represented by approximating the limit of the target function. Finally, the robustness of the proposed framework is validated with the experiments on ground-true data from sonographers.

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Section: Learning Of the Ultrasound Scanning Skillsmentioning

confidence: 99%

Learning Robotic Ultrasound Skills from Human Demonstrations

Li¹,

Deng²

2022

Cognitive Robotics and Adaptive Behaviors

View full text Add to dashboard Cite

show abstract

“…For the learning of force-relevant skills, a great variety of previous studies in robotic manipulation focused on learning the relation between force information and other task-related variables, such as the position and velocity [45], the surface electromyography [46], the task states and constraints [47], and the desired impedance [48]- [50]. A multi-modal representation method for contact-rich tasks has been proposed in [51] to encode the concurrent feedback information from vision and touch.…”

Section: B Learning Of the Ultrasound Scanning Skillsmentioning

confidence: 99%

Learning Ultrasound Scanning Skills from Human Demonstrations

Deng¹,

Lei²,

Wang³

et al. 2021

Preprint

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Recently, the robotic ultrasound system has become an emerging topic owing to the widespread use of medical ultrasound. However, it is still a challenging task to model and to transfer the ultrasound skill from an ultrasound physician. In this paper, we propose a learning-based framework to acquire ultrasound scanning skills from human demonstrations. First, the ultrasound scanning skills are encapsulated into a highdimensional multi-modal model in terms of interactions among ultrasound images, the probe pose and the contact force. The parameters of the model are learned using the data collected from skilled sonographers' demonstrations. Second, a samplingbased strategy is proposed with the learned model to adjust the extracorporeal ultrasound scanning process to guide a newbie sonographer or a robot arm. Finally, the robustness of the proposed framework is validated with the experiments on real data from sonographers.

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Planning for Multi-stage Forceful Manipulation

Cited by 2 publications

References 30 publications

Learning Robotic Ultrasound Skills from Human Demonstrations

Learning Robotic Ultrasound Skills from Human Demonstrations

Learning Ultrasound Scanning Skills from Human Demonstrations

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