Speakers:

Title: From Human-Robot Interaction to Human-Robot Integration 

Abstract: For many years, the name of the game in avdanced, human-centric Robotics has been Human-Robot Interaction.  In recent years, we have witnessed a further deepening of the relationship between humans and technology. Robotic technologies have been providing definite advances to assist people in need of physical help, including rehabilitation and prosthetics. Working in fields were humans are placed right at the center of the technology, on the other hand, is helping refocus our robotics research itself.  In prosthetics, the goal is to have an artificial limb to move naturally and intelligently enough to perform the task that users intend, without requiring their attention. By abstracting this idea, a robot of the future can be thought as a physical ``prosthesis'' of its user, with sensors, actuators, and intelligence enough to interpret and execute the user intention, translating it in a sensible action of which the user remains the owner. In the talk I will present examples of human-robot integration, as in prosthetics and rehabilitation, augmentation with exoskeletons and supernumerary limbs, and shared-autonomy robotic avatars, with the robot executing the human's intended actions and the human perceiving the context of his/her actions and their consequences.

Title: Remote Magnetic Navigation and Precision Telesurgery 

Abstract: Magnetic medical devices actuated by externally generated magnetic fields, known as remote magnetic navigation (RMN), allow for endpoint control of devices creating opportunities for the clinical adoption of precision telesurgery. RMN directly addresses the non-collocation issue that is inherent to flexible endoluminal devices, such as catheters, guidewires, and endoscopes, in which actuation at the proximal end of the device is used to control the distal tip. In RMN,  magnetic forces and torques are exerted directly on the distal tip.  This, in turn, improves the robustness of remote telesurgery by allowing the controller, i.e. the surgeon, to interact with the agent, i.e., the surgical device, in its task space.  In addition, more flexible devices can be used with RMN reducing risks for patients with regard to both unintended perforation of tissue and user issues that can arise due to communication delays. Altogether, the benefits of RMN have the potential to positively impact the adoption of supervised autonomous systems for long distance telesurgery.

Title: Towards and autonomous robotic laparoscopic assistant 

Abstract: To progress to higher levels of autonomy within a laparoscopic surgery setting, we must first reliably and safely master the automation of the simplest of tasks. This seminar will present work on robust data-driven approaches to calibrate the dynamics of a medical grade robot arm, register it within the operating room coordinates, autonomously dock it, and finally predict how it should autonomously operate a laparoscope.

Title: Human-Robot Collaborative Assembly 

Abstract: The synergistic integration of human dexterity and robotic speed and precision offers significant potential, particularly for small- and medium-sized enterprises engaged in high-mix and low-volume production scenarios. In this context, furniture assembly serves as a challenging yet promising test-bed application, since it involves long-term action sequences, dexterous manipulations, precise alignments, and transportation of cumbersome objects. During this presentation, I will discuss some of the key challenges related to realizing a comprehensive human-robot collaborative assembly system, along with presenting some of our research findings regarding three critical components required to achieve this goal: developing methods for reasoning about the necessary subtasks involved in completing the entire assembly process; moving past traditional leader-follower paradigm by developing a proactive robot planner capable of adapting to real-time human observations; and enhancing foundational robot skills so that robots may assume increasingly greater levels of responsibility during these complex tasks.

Title: Towards Context-aware Planning for Mobile Robots 

Abstract: This talk explores the concept of context and its influence on robot decision-making. Context refers to various properties of the environment that can impact robot actions. These properties include understanding how nearby humans typically move; environmental geometric properties, such as maps and 3D models of surrounding objects; and semantics, which involve recognizing objects in the environment and understanding their relationships. Additionally, other representations which are nonhuman readable, e.g., latent spaces of learned multi-modal large models, can also contribute to context. By understanding and utilizing context, robots can make more informed and appropriate decisions in their interactions with the environment and humans. The talk aims to investigate the most effective methods for planning robot actions based on such contextual information.

Title: Challenges and Perspectives for Supervised Robotics Microsurgery 

Abstract: Microsurgical tasks require high dexterity, precision, and focus for surgeons, that can reach proficiency after long training and practice. Advancements in robotics and control have proven the possibility of assisting surgeons in microsurgery thanks to motion scaling and improved ergonomics. This talk discusses the possibilities and challenges for the next advancement toward supervised robotics for microsurgery, considering the methodologies and results in related areas of robotic surgery.

Title: Share autonomy for 4-handed tasks and for safety in driving among pedestrians

Abstract: This talk will show two examples of how to share control between humans and robots. In the first example, we discuss shared control when an operator performs a surgical or manipulation task with 4 hands (2 robotic arms working jointly with the 2 human arms). The main hurdle is to ensure that the robotic arms remain coordinated with the human arms while the 4 arms perform asynchronous tasks. The second example touches upon how to share autonomy when driving a mobile device in a pedestrian alley and whether it is still possible to assign responsibility in case the robot hits a pedestrian.