Recent advances in machine learning have triggered an enormous interest in using learning-based approaches for robot control and object manipulation. While the majority of existing algorithms are evaluated under the assumption that the involved bodies are rigid, a large number of practical applications contain deformable objects. In this work we focus on Deformable Linear Objects (DLOs) which can

The framework of Dynamical Movement Primitives (DMPs) has become a popular method for trajectory generation in robotics. Most robotic systems are subject to saturation and/or kinematic constraints on motion variables, but DMPs do not inherently encode constraints and this may lead to poor tracking performance. Temporal coupling (online temporal scaling) of DMPs represents a possible way for handli

In this letter, we propose a task-based role allocation control scheme for the cooperative manipulation of a rigid-body object held jointly by a human and a robot. The task-based allocation scheme allows an assistive robot to take an active role when the task is known. To deal with the translation/rotation problem, we define rotation and translation as distinct parameterized tasks. The task that d

Background and purpose — Older patients with a displaced femoral neck fracture (FNF) are often treated with a cemented primary hemiarthroplasty (HA). The DAICY trial investigates whether high-dose dual-impregnated antibiotic-loaded cement (DIAC) including gentamicin and clindamycin can reduce the risk of periprosthetic joint infection (PJI) in comparison with low-dose single-impregnated gentamicin

Coordinated dual-arm manipulation tasks can be broadly characterized as possessing absolute and relative motion components. Relative motion tasks, in particular, are inherently redundant in the way they can be distributed between end-effectors. In this work, we analyse cooperative manipulation in terms of the asymmetric resolution of relative motion tasks. We discuss how existing approaches enable

In this paper, we present a system for extracting tabular information from loosely structured handwritten documents. The system consists of three parts, (i) a u-net like CNN-based method for text detection and segmentation, (ii) a new attention-based method for simultaneous text recognition and classification of word-parts, and (iii) a method for matching the word parts into a tabular structure fo

Time to AIDS in HIV-2 infection is approximately twice as long compared to in HIV-1 infection. Despite reduced viremia, HIV-2-infected individuals display signs of chronic immune activation. In HIV-1-infected individuals, B-cell hyperactivation is driven by continuous antigen exposure. However, the contribution of viremia to B-cell perturbations in HIV-2-infected individuals remains largely unexpl