Related papers: Shape Sensing of Variable Stiffness Soft Robots us…
The Finite Element Method (FEM) is a powerful modeling tool for predicting the behavior of soft robots. However, its use for control can be difficult for non-specialists of numerical computation: it requires an optimization of the…
Soft robots have shown immense promise in settings where they can leverage dynamic control of their entire bodies. However, effective dynamic shape control requires a controller that accounts for the robot's high-dimensional dynamics--a…
Electrical impedance tomography (EIT) provides functional images of an electrical conductivity distribution inside the human body. Since the 1980s, many potential clinical applications have arisen using inexpensive portable EIT devices. EIT…
Electrical impedance tomography (EIT) is a noninvasive medical imaging modality utilizing the current-density/voltage data measured on the surface of the subject. Calder\'on's method is a relatively recent EIT imaging algorithm that is…
Electrical Impedance Tomography (EIT) is a powerful imaging modality widely used in medical diagnostics, industrial monitoring, and environmental studies. The EIT inverse problem is about inferring the internal conductivity distribution of…
Soft bodies made from flexible and deformable materials are popular in many robotics applications, but their proprioceptive sensing has been a long-standing challenge. In other words, there has hardly been a method to measure and model the…
The success of soft robots in displaying emergent behaviors is tightly linked to the compliant interaction with the environment. However, to exploit such phenomena, proprioceptive sensing methods which do not hinder their softness are…
The aim of electrical impedance tomography is to reconstruct the admittivity distribution inside a physical body from boundary measurements of current and voltage. Due to the severe ill-posedness of the underlying inverse problem, the…
In Electrical Impedance Tomography (EIT), the internal conductivity of a body is recovered via current and voltage measurements taken at its surface. The reconstruction task is a highly ill-posed nonlinear inverse problem, which is very…
This paper presents a static electrical impedance tomography (EIT) technique that evaluates abdominal obesity by estimating the thickness of subcutaneous fat. EIT has a fundamental drawback for absolute admittivity imaging because of its…
Soft robots achieve functionality through tight coupling among geometry, material composition, and actuation. As a result, effective design optimization requires these three aspects to be considered jointly rather than in isolation. This…
Electrical Impedance Tomography (EIT) is a powerful tool for non-destructive evaluation, state estimation, and process tomography - among numerous other use cases. For these applications, and in order to reliably reconstruct images of a…
Active control of the shape of soft robots is challenging. Despite having an infinite number of passive degrees of freedom (DOFs), soft robots typically only have a few actively controllable DOFs, limited by the number of degrees of…
Soft robots have become increasingly popular for complex manipulation tasks requiring gentle and safe contact. However, their softness makes accurate control challenging, and high-fidelity sensing is a prerequisite to adequate control…
Electrical impedance tomography (EIT) is highly affected by modeling errors regarding electrode positions and the shape of the imaging domain. In this work, we propose a new inclusion detection technique that is completely independent of…
We present a hybrid robotic skin that combines electrical impedance tomography (EIT) with pneumatic tactile sensing to improve force reconstruction capability. The developed robotic skin is fabricated entirely by 3D printing and spray…
Pneumatic soft robots present many advantages in manipulation tasks. Notably, their inherent compliance makes them safe and reliable in unstructured and fragile environments. However, full-body shape sensing for pneumatic soft robots is…
This paper introduces a learning-based modeling framework for a magnetically steerable soft suction device designed for endoscopic endonasal brain tumor resection. The device is miniaturized (4 mm outer diameter, 2 mm inner diameter, 40 mm…
The Finite Element Method (FEM) is a powerful modeling tool for predicting soft robots' behavior, but its computation time can limit practical applications. In this paper, a learning-based approach based on condensation of the FEM model is…
Electrical Impedance Tomography (EIT) aims to recover the internal conductivity and permittivity distributions of a body from electrical measurements taken on electrodes on the surface of the body. The reconstruction task is a severely…