Related papers: Shape Sensing of Variable Stiffness Soft Robots us…
Enabling dexterous manipulation and safe human-robot interaction, soft robots are widely used in numerous surgical applications. One of the complications associated with using soft robots in surgical applications is reconstructing their…
Electrical Impedance Tomography (EIT) offers a promising solution for distributed tactile sensing with minimal wiring and full-surface coverage in robotic applications. However, EIT-based tactile sensors face significant challenges during…
We address the challenge of reliable and accurate proprioception in soft robots, specifically those with tight packaging constraints and relying only on internally embedded sensors. While various sensing approaches with single sensors have…
Flexible electrical impedance tomography (EIT) is an emerging technology for tactile sensing in human-machine interfaces (HMI). It offers a unique alternative to traditional array-based tactile sensors with its flexible, scalable, and…
Real-time proprioception is a challenging problem for soft robots, which have almost infinite degrees-of-freedom in body deformation. When multiple actuators are used, it becomes more difficult as deformation can also occur on actuators…
Three-dimensional shape sensing in soft and continuum robotics is a crucial aspect for stable actuation and control in fields such as Minimally Invasive surgery, as the estimation of complex curvatures while using continuum robotic tools is…
Tactile sensing is fundamental to robotic systems, enabling interactions through physical contact in multiple tasks. Despite its importance, achieving high-resolution, large-area tactile sensing remains challenging. Electrical Impedance…
Electrical Impedance Tomography (EIT)-based tactile sensors offer cost-effective and scalable solutions for robotic sensing, especially promising for soft robots. However a major issue of EIT-based tactile sensors when applied in highly…
Objective: A model is presented to evaluate the viability of using electrical impedance tomography (EIT) with a nerve cuff to record neural activity in peripheral nerves. Approach: Established modelling approaches in neural-EIT are expanded…
Electrical Impedance Tomography (EIT) is a powerful imaging technique with diverse applications, e.g., medical diagnosis, industrial monitoring, and environmental studies. The EIT inverse problem is about inferring the internal conductivity…
Flexible electrical impedance tomography (EIT) offers a promising alternative to traditional tactile sensing approaches, enabling low-cost, scalable, and deformable sensor designs. Here, we propose an optimized lattice-structured flexible…
The objective of electrical impedance tomography (EIT) is to reconstruct the internal conductivity of a physical body based on current and voltage measurements at the boundary of the body. In many medical applications the exact shape of the…
Electrical impedance tomography (EIT) is a noninvasive imaging method whereby electrical measurements on the boundary of a conductive medium (the data) are taken according to a prescribed protocol set and inverted to map the internal…
Electrical impedance tomography (EIT) is an imaging method that is able to estimate the electrical conductivity distribution of living tissue. This work presents a field programmable gate array (FPGA)-based multi-frequency EIT system for…
Electrical impedance tomography (EIT) enables non-invasive, spatially continuous reconstruction of internal conductivity distributions, providing full field sensing beyond conventional point measurements. Here, we report the first in situ…
In this paper, we present a discussion on the algorithms design of Electrical Impedance Tomography (EIT) for biomedical applications. Based on the Maxwell differential equations and the derived the finite element(FE) linear equations, we…
This paper presents a mathematical framework for a flexible pressure-sensor model using electrical impedance tomography (EIT). When pressure is applied to a conductive membrane patch with clamped boundary, the pressure-induced surface…
Electrical impedance tomography (EIT) provides an attractive solution for large-area tactile sensing due to its minimal wiring and shape flexibility, but its nonlinear inverse problem often leads to severe artifacts and inaccurate contact…
The safety and accuracy of robotic navigation hold paramount importance, especially in the realm of soft continuum robotics, where the limitations of traditional rigid sensors become evident. Encoders, piezoresistive, and potentiometer…
Objective: The strengths of Electrical Impedance Tomography (EIT) are its capability of imaging the internal body by using a noninvasive, radiation safe technique, and the absence of known hazards. In this paper we introduce a novel idea of…