Research

Pro-active Human-Mobile Robot Interaction

In order to function seamlessly in human environment, robots need to interact and communication with people. My thesis aims to enable robots to pro-actively communicate with users to improve efficiency and performance. I’m interested in designing new interaction schemes with wearable technologies (haptics, AR/VR), as well as intelligent algorithms that predict human behaviors and generate optimal plans. Learn more

Surgical Robot Automation & Control

More than half a million abdominal, gynecologic, urologic and cardiac surgeries are performed minimally invasivelly with surgical robots. Current surgical robotics systems are fully teleoperated. Full or partial automation of some repetitive tasks like palpating and suturing has the potential to reduce surgeon errors, duration of procedures, trauma and expense. I have worked on partial automation and shared-control of surgical sub-tasks in a multilateral setting. Learn more

Publications

More Publications

Efficient and Trustworthy Social Navigation Via Explicit and Implicit Robot-Human Communication
Yuhang Che, Dorsa Sadig, Allison M Okamura
IEEE Transactions on Robotics, 2018
Facilitating Human-Mobile Robot Communication via Haptic Feedback and Gesture Teleoperation
Yuhang Che, Heather Culbertson, Chih-Wei Tang, Sudipto Aich, Allison M Okamura
ACM Transactions on Human-Robot Interaction, 2018
Avoiding Human-Robot Collisions using Haptic Communication
Yuhang Che, Cuthbert T Sun, Allison M Okamura
IEEE International Conference on Robotics and Automation, 2018
Two is not Always Better than One: Effects of Teleoperation and Haptic Coupling
Yuhang Che, Gabriel M Haro, Allison M Okamura
IEEE International Conference on Biomedical Robotics and Biomechatronics, 2016
A Paced Shared-Control Teleoperated Architecture for Supervised Automation of Multilateral Surgical Tasks
Kamran Shamaei, Yuhang Che, Adithyavairavan Murali, Siddarth Sen, Sachin Patil, Ken Goldberg, Allison M Okamura
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

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