Kapil Katyal

REDD-RQB

Publications

Revolutionizing Prosthetics is a government-sponsored program focused on maturing the many foundational technologies that comprise neural prosthetic systems. Targeting the needs of amputees and movement-impaired individuals, the program focused on technological advancements in areas such as advanced neural recording devices, neural decoding and enc   ...more

Purpose: Visual scanning by sighted individuals is done using eye and head movements. In contrast, scanning using the Argus II is solely done by head movement, since eye movements can introduce localization errors. Here, we tested if a scanning mode utilizing eye movements increases visual stability and reduces head movements in Argus II users. Me   ...more

The Argus II retinal prosthesis has a dissociation between the line of sight of the camera and that of the eye. The image-capturing camera is mounted on the glasses and therefore, eye movements do not influence the visual information sent to the implanted electrodes. We have demonstrated a closed-loop setup that shifts the visual information based   ...more

We describe the recent development of assistive computer vision algorithms for use with the Argus II retinal prosthesis system. While users of the prosthetic system can learn and adapt to the limited stimulation resolution, there exists great potential for computer vision algorithms to augment the experience and significantly increase the utility   ...more

This work leverages Deep Reinforcement Learning (DRL) to make robotic control immune to changes in the robot manipulator or the environment and to perform reaching, collision avoidance and grasping without explicit, prior and fine knowledge of the human arm structure and kinematics, without careful hand-eye calibration, solely based on visual/reti   ...more

This paper presents a nested marsupial robotic system and its execution of a notional disaster response task. Human supervised autonomy is facilitated by tightly-coupled, high-level user feedback enabling command and control of a bimanual mobile manipulator carrying a quadrotor unmanned aerial vehicle that carries a miniature ground robot. Each ro   ...more

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