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Fall 2016 GRASP Seminar: Mehrdad Zadeh, Kettering University, “Bridging the Gap between Learning and Control: Adaptive Haptic Guidance for Virtual Reality based Training”

October 14, 2016 @ 11:00 am - 12:00 pm


In this talk, I will overview our recent work on gesture-based haptic guidance for physical human-robot interaction (pHRI) that can be used in virtual minimally invasive surgery (MIS) training. I will present an approach in which the knowledge and experience of experts have been modeled and used to improve the unpredictable motions of novice trainees. Two statistical models, hidden Markov model (HMM) and hidden Conditional Random Fields (HCRF), have been used to train gesture models for a virtual MIS related task. These models have also been used for automatic gesture segmentation and recognition as well as generating guidance forces. The forces are adaptively calculated in real time with respect to gestural similarities among user motions and the gesture models.


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Dr. Zadeh is currently a visiting associate professor at Johns Hopkins University, Laboratory for Computational Sensing + Robotics (LCSR), MD, where he collaborates on the design and development of haptic-enabled surgical simulation. He received his B.S. degree in Computer Engineering from Shiraz University, Iran, his M.S. degree from Concordia University, Canada, and his Ph.D. degree in Electrical & Computer Engineering in 2009 from the University of Waterloo, Canada. He joined Kettering University, MI as an assistant professor in 2009 and he has been promoted to an Associate Professor in 2015.


October 14, 2016
11:00 am - 12:00 pm
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