The theoretical and experimental research efforts in this project focus on haptics interaction and visual servoing of deformable objects through shared control. In particular, novel haptics modeling of interaction with deformable objects will be explored, using overlaying local nonlinear modeling of elasto-dynamic properties of objects; new visual servoing algorithms will be formulated for tracking deformable objects using position and image based control techniques; new robot control algorithms will be developed for safe interaction with a pacient's organs using haptics and vision. The project's education component focuses on developing new courses, involving students in course development, and involving undergraduate students in research. The PI will also participate in education of the under-represented high school students.
