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The dynamic properties of materials utilized in architecture or engineering applications can significantly affect their performance under dynamic or impact loading conditions. To evaluate such behavior, force transducers are commonly…
We perform simulations and experiments on an oscillating atomic force microscope cantilever approaching a surface, where the intermodulation response of the cantilever driven with two pure harmonic tones is investigated. In the simulations,…
Brain-computer interface allows people who have lost their motor skills to control robot limbs based on electroencephalography. Most BCIs are guided only by visual feedback and do not have somatosensory feedback, which is an important…
The present work deals with a curvature sensor that consists of two segments of asymmetric multicore fiber (MCF) fusion spliced with standard single mode fiber (SMF). The MCF comprises three strongly coupled cores; one of such cores is at…
Springs are commonly used in wearable robotic devices to provide assistive joint torque without the need for motors and batteries. However, different tasks (such as walking or running) and different users (such as athletes with strong legs…
Grasping objects whose physical properties are unknown is still a great challenge in robotics. Most solutions rely entirely on visual data to plan the best grasping strategy. However, to match human abilities and be able to reliably pick…
Wearable devices are becoming increasingly important, addressing needs in both the fitness and the medical markets. In this paper, we describe a novel sensing platform based on a hollow-core polyurethane optical fiber, operating through…
Contact feedback is essential for contact-rich robotic manipulation, as it allows the robot to detect subtle interaction changes and adjust its actions accordingly. Six-axis force-torque sensors are commonly used to obtain contact feedback,…
This paper presents the design, characterization and validation of a wearable haptic device able to convey skin stretch, force feedback, and a combination of both, to the user's arm. In this work, we carried out physical and perceptual…
In this paper, we report on a multicore fiber-based (MCF) temperature sensor that operates in a wide thermal range and that is robustly packaged to withstand harsh environments. To develop the sensor, the fundamentals concerning the effect…
Mechanically characterizing the human-machine interface is essential to understanding user behavior and optimizing wearable robot performance. This interface has been challenging to sensorize due to manufacturing complexity and non-linear…
Manipulating fragile deformable containers, such as disposable plastic cups filled with liquid, demands real-time grip-force adaptation within an extremely narrow force margin: insufficient force causes slip, while excessive force…
Safe yet stable grasping requires a robotic hand to apply sufficient force on the object to immobilize it while keeping it from getting damaged. Soft robotic hands have been proposed for safe grasping due to their passive compliance, but…
Data-driven approaches to tactile sensing aim to overcome the complexity of accurately modeling contact with soft materials. However, their widespread adoption is impaired by concerns about data efficiency and the capability to generalize…
A new method is presented to manufacture piezoresistive tactile sensors using fused deposition modelling (FDM)printing technology with two different filaments made of thermoplastic polyurethane (TPU) and polylactic acid-graphene (PLA-G)…
The user's palm plays an important role in object detection and manipulation. The design of a robust multi-contact tactile display must consider the sensation and perception of of the stimulated area aiming to deliver the right stimuli at…
We describe a transducer for low-temperature atomic force microscopy based on electromechanical coupling due to a strain-dependent kinetic inductance of a superconducting nanowire. The force sensor is a bending triangular plate (cantilever)…
Developments in touch-sensitive textiles have enabled many novel interactive techniques and applications. Our digitally-knitted capacitive active sensors can be manufactured at scale with little human intervention. Their sensitive areas are…
In robotic manipulation, preventing objects from slipping and establishing a secure grip on them is critical. Successful manipulation requires tactile sensors that detect the microscopic incipient slip phenomenon at the contact surface.…
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…