Related papers: Optimization-based Feedback Manipulation Through a…
Motion control of droplets has generated much attention for its applications to microfluidics, where precise control of small fluid volumes is an imperative requirement. Mechanical vibrations have been shown to be effective at inducing…
We propose a portable cartridge based lab-on-a-chip platform. The main sensing mechanism uses high frequency acoustic waves. Feasibility of two different transducers has been investigated for biological measurements. We used zincoxide (ZnO)…
Nonlinear metasurfaces that dynamically manipulate the phase of a passing light beam are of interest for a wide range of applications. The controlled operation of such devices requires accurate measurements of the optical transmission phase…
Manipulating micro-scale object plays paramount roles in a wide range of fundamental researches and applications. At micro-scale, various methods have been developed in the past decades, including optical, electric, magnetic, aerodynamic…
Light-sound interactions have long been exploited in various acousto-optic devices based on bulk crystalline materials. Conventionally these devices operate in megahertz frequency range where the acoustic wavelength is much longer than the…
Understanding and manipulating articulated objects, such as doors and drawers, is crucial for robots operating in human environments. We wish to develop a system that can learn to articulate novel objects with no prior interaction, after…
This work presents an event-triggered switching control framework for a class of nonlinear underactuated multi-channel systems with input constraints. These systems are inspired by cooperative manipulation tasks involving underactuation,…
Enabling robots to execute novel manipulation tasks zero-shot is a central goal in robotics. Most existing methods assume in-distribution tasks or rely on fine-tuning with embodiment-matched data, limiting transfer across platforms. We…
Acoustophoresis has enabled novel interaction capabilities, such as levitation, volumetric displays, mid-air haptic feedback, and directional sound generation, to open new forms of multimodal interactions. However, its traditional…
The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most manipulators are controlled by digital signals, a novel…
This paper describes and validates for the first time the dynamic modelling of Liquid Crystal (LC)-based planar multi-resonant cells, as well as its use as bias signals synthesis tool to improve their reconfigurability time. The dynamic LC…
We present LeviCursor, a method for interactively moving a physical, levitating particle in 3D with high agility. The levitating object can move continuously and smoothly in any direction. We optimize the transducer phases for each possible…
We propose a framework for designing coherent optical environments that enable versatile and dynamic optical manipulation. In contrast to conventional material-based near-field platforms, our approach employs a structured coherent light…
Studying the manipulation of deformable linear objects has significant practical applications in industry, including car manufacturing, textile production, and electronics automation. However, deformable linear object manipulation poses a…
While tactile sensor technology has made great strides over the past decades, applications in robotic manipulation are limited by aspects such as blind spots, difficult integration into hands, and low spatial resolution. We present a method…
Object manipulation is a fundamental challenge in robotics, where systems must balance trade-offs among manipulation capabilities, system complexity, and throughput. Distributed manipulator systems (DMS) use the coordinated motion of…
Electromagnetic waves undergo multiple uncontrollable alterations as they propagate within a wireless environment. Free space path loss, signal absorption, as well as reflections, refractions and diffractions caused by physical objects…
Sensory substitution is an effective approach for displaying stable haptic feedback to a teleoperator under time delay. The finger is highly articulated, and can sense movement and force in many directions, making it a promising location…
Nonlinear optical processes are governed by the relative-phase relationships among the relevant electromagnetic fields in these processes. In this Letter, we describe the physics of arbitrary manipulation of nonlinear optical processes…
This article presents a multi-physics methodology for the numerical simulation of physical systems that involve the non-linear interaction of multi-phase reactive fluids and elastoplastic solids, inducing high strain-rates and high…