Explanipedia

A Planer Moving Microphone Array for Sound Source Localization Open

Chuyang Wang, Henry K. Chu, Yat Sze Choy · 2025

Sound source localization (SSL) equips service robots with the ability to perceive sound similarly to humans, which is particularly valuable in complex, dark indoor environments where vision-based systems may not work. From a data collecti…

Intervention technology of aural perception controllable headset for children with autism spectrum disorder Open

Tak Chun Kwong, Huan-Ling Yuan, Steve W. Y. Mung, Henry K. Chu, Cynthia Y. Y. Lai , et al. · 2025

One Step Forward Strategy with Haram for Sound Source Localization Open

Chuyang Wang, Yat Sze Choy, Henry K. Chu · 2025

Aerial Grasping with Soft Aerial Vehicle Using Disturbance Observer-Based Model Predictive Control Open

Hiu Ching Cheung, Bailun Jiang, Yang Hu, Henry K. Chu, Chih‐Yung Wen , et al. · 2024

Aerial grasping, particularly soft aerial grasping, holds significant promise for drone delivery and harvesting tasks. However, controlling UAV dynamics during aerial grasping presents considerable challenges. The increased mass during pay…

UVIO: Adaptive Kalman Filtering UWB-Aided Visual-Inertial SLAM System for Complex Indoor Environments Open

Junxi Li, S. Wang, Jiahui Hao, Biao Ma, Henry K. Chu · 2024

Precise positioning in an indoor environment is a challenging task because it is difficult to receive a strong and reliable global positioning system (GPS) signal. For existing wireless indoor positioning methods, ultra-wideband (UWB) has …

A Modular Pneumatic Soft Gripper Design for Aerial Grasping and Landing Open

Hiu Ching Cheung, Ching‐Wei Chang, Bailun Jiang, Chih‐Yung Wen, Henry K. Chu · 2023

Aerial robots have garnered significant attention due to their potential applications in various industries, such as inspection, search and rescue, and drone delivery. Successful missions often depend on the ability of these robots to gras…

Coupled Multiple Dynamic Movement Primitives Generalization for Deformable Object Manipulation Open

Zhenxi Cui, Wanyu Ma, Jiewen Lai, Henry K. Chu, Yi Guo · 2022

Dynamic Movement Primitives (DMP) are widely applied in movement representation due to their ability to encode tasks using generalization properties. However, the coupled multiple DMP generalization cannot be directly solved based on the o…

Verticalized-Tip Trajectory Tracking of a 3D-Printable Soft Continuum Robot: Enabling Surgical Blood Suction Automation Open

Jiewen Lai, Kaicheng Huang, Bo Lu, Qingxiang Zhao, Henry K. Chu · 2021

Soft-bodied robotic manipulators have great potential for use in minimally invasive surgery, owing to their advantages of high flexibility with infinite degrees of freedom (DOF). One of the potential applications is to perform blood suctio…

Constrained Motion Planning of A Cable-Driven Soft Robot With Compressible Curvature Modeling Open

Jiewen Lai, Bo Lu, Qingxiang Zhao, Henry K. Chu · 2021

A cable-driven soft-bodied robot with redundancy can conduct the trajectory tracking task and in the meanwhile fulfill some extra constraints, such as tracking through an end-effector in designated orientation, or get rid of the evitable m…

Variable-Stiffness Control of a Dual-Segment Soft Robot Using Depth Vision Open

Jiewen Lai, Bo Lu, Henry K. Chu · 2021

A soft-bodied robot exhibits prominent dexterity due to the soft nature of its material. However, the softness can become a burden when the robot needs to interact with the environment, given that the targeted object is usually much stiffe…

Optimization of a Single-Particle Micropatterning System With Robotic nDEP-Tweezers Open

Kaicheng Huang, Zhenxi Cui, Jiewen Lai, Bo Lu, Henry K. Chu · 2021

In this study, a system of automatic microparticle patterning that could enable the separation, trapping, and translation of single microbeads in liquid suspension using negative dielectrophoresis (DEP) tweezers was presented to form a sin…

Comparison of tribology performance, particle emissions and brake squeal noise between Cu-containing and Cu-free brake materials Open

Long Wei, Yat Sze Choy, C.S. Cheung, Henry K. Chu · 2020

Automated Folding of a Deformable Thin Object through Robot Manipulators Open

Zhenxi Cui, Kaicheng Huang, Bo Lu, Henry K. Chu · 2020

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, 25 October 2020 - 24 January 2021

Automated Embryo Manipulation and Rotation via Robotic nDEP-Tweezers Open

Kaicheng Huang, Ihab Abu Ajamieh, Zhenxi Cui, Jiewen Lai, James K. Mills , et al. · 2020

As the DEP tweezers can grasp the embryo without the need for precise alignment, the overall time required to process a large number of embryos can be shortened.

Automated Single-microparticle Patterning System for Micro-analytics Open

Kaicheng Huang, Zhenxi Cui, Ihab Abu Ajamieh, Jiewen Lai, James K. Mills , et al. · 2020

2020 IEEE 16th International Conference on Automation Science and Engineering, Hong Kong, 20-21 August 2020

A Learning-Driven Framework with Spatial Optimization For Surgical Suture Thread Reconstruction and Autonomous Grasping Under Multiple Topologies and Environmental Noises Open

Bo Lu, Wei Chen, Yueming Jin, Dandan Zhang, Qi Dou , et al. · 2020

Surgical knot tying is one of the most fundamental and important procedures in surgery, and a high-quality knot can significantly benefit the postoperative recovery of the patient. However, a longtime operation may easily cause fatigue to …

Toward Vision-based Adaptive Configuring of A Bidirectional Two-Segment Soft Continuum Manipulator Open

Jiewen Lai, Kaicheng Huang, Bo Lu, Henry K. Chu · 2020

In soft robotics, developing an effective way of robot-environment interaction is a challenging task due to the soft nature of the material that makes the manipulator. This paper demonstrates a vision-based approach to configure a two-segm…

A Learning-based Inverse Kinematics Solver for a Multi-Segment Continuum Robot in Robot-Independent Mapping Open

Jiewen Lai, Kaicheng Huang, Henry K. Chu · 2019

Inverse kinematics (IK) is one of the most fundamental problems in robotics, as it makes use of the kinematics equations to determine the joint configurations necessary to reach a desired end-effector pose. In the field of continuum robot,…

A Learning Approach for Suture Thread Detection With Feature Enhancement and Segmentation for 3-D Shape Reconstruction Open

Bo Lu, Xiaoqing Yu, Jianhui Lai, Kaicheng Huang, Keith Chan , et al. · 2019

A vision-based system presents one of the most reliable methods for achieving an automated robot-assisted manipulation associated with surgical knot tying. However, some challenges in suture thread detection and automated suture thread gra…

Surgical Suture Thread Detection and 3-D Reconstruction Using a Model-Free Approach in a Calibrated Stereo Visual System Open

Bo Lu, Henry K. Chu, Kaicheng Huang, Jiewen Lai · 2019

In robot-assisted surgery (RAS), three-dimensional (3-D) position estimation of a surgical suture thread is essential in automating the wound suturing procedure. Nevertheless, accurate suture thread's segmentation and its 3-D coordinates r…

Microchip System for Patterning Cells on Different Substrates via Negative Dielectrophoresis Open

Kaicheng Huang, Bo Lu, Jiewen Lai, Henry K. Chu · 2019

Seeding cells on a planar substrate is the first step to construct artificial tissues in vitro. Cells should be organized into a pattern similar to native tissues and cultured on a favorable substrate to facilitate desirable tissue ingrowt…

Three-dimensional Localization of Needle Tip Immersed in Medium Open

Zhenxi Cui, Kaicheng Huang, Bo Lu, Henry K. Chu · 2019

2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Hong Kong, China, 8-12 July 2019

Vision-Based Surgical Suture Looping Through Trajectory Planning for Wound Suturing Open

Bo Lu, Henry K. Chu, Kaicheng Huang, Cheng Li · 2018

Robot-assisted surgery has revolutionized the field of surgery over the past few decades. Despite many successes, achieving full automation in these surgeries remains a challenging task. In this paper, a dynamic approach is proposed to aut…

Robotic knot tying through a spatial trajectory with a visual servoing system Open

Bo Lu, Henry K. Chu, Cheng Li · 2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, British Columbia, Canada, 24-28 September 2017

Characterization of biomechanical properties of cells through dielectrophoresis-based cell stretching and actin cytoskeleton modeling Open

Guohua Bai, Ying Li, Henry K. Chu, Kaiqun Wang, Qiulin Tan , et al. · 2017

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