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One of the open challenges in designing robots that operate successfully in the unpredictable human environment is how to make them able to predict what actions they can perform on objects, and what their effects will be, i.e., the ability…

The research aims to expand tactile feedback beyond vibrations to various modes of stimuli, such as indentation, vibration, among others. By incorporating soft material into the design of a novel tactile actuator, we can achieve…

Cyber human interaction is a broad term encompassing the range of interactions that humans can have with technology. While human interaction with fixed and mobile computers is well understood, the world is on the cusp of ubiquitous and…

Industrial robots are widely used in manufacturing, yet most manipulation still depends on fixed waypoint scripts that are brittle to environmental changes. Learning-based control offers a more adaptive alternative, but it remains unclear…

Although robotics courses are well established in higher education, the courses often focus on theory and sometimes lack the systematic coverage of the techniques involved in developing, deploying, and applying software to real hardware.…

Cloud computing provides a great opportunity for scientists, as it enables large-scale experiments that cannot are too long to run on local desktop machines. Cloud-based computations can be highly parallel, long running and data-intensive,…

We present a model of a crawler consisting of several suction units distributed along a straight line and connected by springs. The suction units are rudimentary proprioceptors-actuators, which sense binary states of compression vs…

In Networked Control Systems (NCS), the absence of physical communication links in the loop leads to relevant issues, such as measurement delays and asynchronous execution of the control commands. These issues may lead to unwanted control…

Hand-wearable robots, specifically exoskeletons, are designed to aid hands in daily activities, playing a crucial role in post-stroke rehabilitation and assisting the elderly. Our contribution to this field is a textile robotic glove with…

Assembling lattices from discrete building blocks enables the composition of large, heterogeneous, and easily reconfigurable objects with desirable mass-to-stiffness ratios. This type of building system may also be referred to as a digital…

Humanoid robots may require a degree of compliance at the joint level for improving efficiency, shock tolerance, and safe interaction with humans. The presence of joint elasticity, however, complexifies the design of balancing and walking…

Dexterous robotic hands are appealing for their agility and human-like morphology, yet their high degree of freedom makes learning to manipulate challenging. We introduce an approach for learning dexterous grasping. Our key idea is to embed…

While automated experiments and high-throughput methods are becoming more mainstream in the age of data, empowering individual researchers to capture, collate, and contextualize their data faster and more reproducibly still remains a…

Autonomous fabric manipulation is a longstanding challenge in robotics, but evaluating progress is difficult due to the cost and diversity of robot hardware. Using Reach, a cloud robotics platform that enables low-latency remote execution…

In order to properly assess the function and computational properties of simulated neural systems, it is necessary to account for the nature of the stimuli that drive the system. However, providing stimuli that are rich and yet both…

We show that a purely tactile dextrous in-hand manipulation task with continuous regrasping, requiring permanent force closure, can be learned from scratch and executed robustly on a torque-controlled humanoid robotic hand. The task is…

In this paper, the use of cost-effective, custom home experiment kits for remote teaching of first-semester introductory physics labs is described. The kit experiments were designed to match the existing onsite lab experiment learning goals…

This paper introduces an innovative control approach for teleoperating a robot in close proximity to a human operator, which could be useful to control robots embedded on wheelchairs. The method entails establishing a virtual connection…

Variable stiffness actuators undergo lower peak force in contacts compared to their rigid counterparts, and are thus safer for human-robot interaction. Furthermore, they can store energy in their elastic element and can release it later to…

In this letter, we propose a control framework for human-in-the-loop systems, in which many human decision makers are involved in the feedback loop composed of a plant and a controller. The novelty of the framework is that the decision…