Related papers: Optimization-based Feedback Manipulation Through a…
Ultrasonic phased array technology, while versatile, often requires complex computing resources and numerous amplifier components. We present a Manually Reconfigurable Phased Array that physically controls transducer position and phase,…
Although general purpose robotic manipulators are becoming more capable at manipulating various objects, their ability to manipulate millimeter-scale objects are usually very limited. On the other hand, ultrasonic levitation devices have…
Noncontact particle manipulation (NPM) technology has significantly extended mankind's analysis capability into micro and nano scale, which in turn greatly promoted the development of material science and life science. Though NPM by means…
Ultrasound is a key technology in healthcare, and it is being explored for non-invasive, wearable, continuous monitoring of vital signs. However, its widespread adoption in this scenario is still hindered by the size, complexity, and power…
Described is a device acting on an acoustically levitated object by manipulating the pressure and flow of a thin layer of air such that its rotation can be precisely controlled without mechanical contact. Virtual work analysis assists in…
We present the concept of a feedback-based topological acoustic metamaterial as a tool for realizing autonomous and active guiding of sound beams along arbitrary curved paths in free two-dimensional space. The metamaterial building blocks…
Millimeter-scale implants using ultrasound for power and communication have been proposed for a range of deep-tissue applications, including neural recording and stimulation. However, published implementations have shown high sensitivity to…
The essence of levitation technology is the countervailing of gravity. It is known that an ultrasound standing wave is capable of suspending small particles at its sound pressure nodes. The acoustic axis of the ultrasound beam in…
In robots, nonprehensile manipulation operations such as pushing are a useful way of moving large, heavy or unwieldy objects, moving multiple objects at once, or reducing uncertainty in the location or pose of objects. In this study, we…
Recent advancements in robotics, control, and machine learning have facilitated progress in the challenging area of object manipulation. These advancements include, among others, the use of deep neural networks to represent dynamics that…
Light and sound waves have the fascinating property that they can move objects through the transfer of linear or angular momentum. This ability has led to the development of optical and acoustic tweezers, with applications ranging from…
Tracking the pose of an object while it is being held and manipulated by a robot hand is difficult for vision-based methods due to significant occlusions. Prior works have explored using contact feedback and particle filters to localize…
Contactless manipulation of small objects is essential for biomedical and chemical applications, such as cell analysis, assisted fertilisation, and precision chemistry. Established methods, including optical, acoustic, and magnetic…
Friction is the essential mediator of terrestrial locomotion, yet in robotic systems it is almost always treated as a passive property fixed by surface materials and conditions. Here, we introduce ultrasonic lubrication as a method to…
The manipulation of acoustic waves plays an important role in a wide range of applications. Currently, acoustic wave manipulation typically relies on either acoustic metasurfaces or phased array transducers. The elements of metasurfaces are…
We introduce UltraBots, a system that combines ultrasound haptic feedback and robotic actuation for large-area mid-air haptics for VR. Ultrasound haptics can provide precise mid-air haptic feedback and versatile shape rendering, but the…
Magnetic microrobots can be navigated by an external magnetic field to autonomously move within living organisms with complex and unstructured environments. Potential applications include drug delivery, diagnostics, and therapeutic…
In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional…
Dynamic positioning in acoustic levitation typically depends on active control of the transducers phases, which necessitates complex driving electronics. While mechanically actuated reflectors offer a simpler alternative, achieving…
We present an estimator-based control design procedure for flow control, using reduced-order models of the governing equations, linearized about a possibly unstable steady state. The reduced models are obtained using an approximate balanced…