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This study presents a lightweight, wearable fingertip haptic device that provides physics-based haptic feedback for dexterous manipulation in virtual environments without hindering real-world interactions. The device's design utilizes thin…
This research introduces a new drop fluidics, which uses a deformable and stretchable elastomeric film as the platform, instead of the commonly used rigid supports. Such a soft film impregnated with magnetic particles can be modulated with…
We propose a planning and control approach to physics-based manipulation. The key feature of the algorithm is that it can adapt to the accuracy requirements of a task, by slowing down and generating `careful' motion when the task requires…
Humans can leverage physical interaction to teach robot arms. As the human kinesthetically guides the robot through demonstrations, the robot learns the desired task. While prior works focus on how the robot learns, it is equally important…
BACKGROUND: Learning to perform new movements is usually achieved by following visual demonstrations. Haptic guidance by a force feedback device is a recent and original technology which provides additional proprioceptive cues during…
Miniature magnetic tools have the potential to enable minimally invasive surgical techniques to be applied to space-restricted surgical procedures in areas such as neurosurgery. However, typical magnetic navigation systems, which create the…
Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing approaches either increase the task execution time or require complex models and/or additional instrumentation…
We introduce a spherical fingertip sensor for dynamic manipulation. It is based on barometric pressure and time-of-flight proximity sensors and is low-latency, compact, and physically robust. The sensor uses a trained neural network to…
The paper develops the Adaptive Dynamic Programming Toolbox (ADPT), which solves optimal control problems for continuous-time nonlinear systems. Based on the adaptive dynamic programming technique, the ADPT computes optimal feedback…
In real-world vision systems,haze removal is required not only to enhance image visibility but also to meet the specific needs of diverse downstream tasks.To address this challenge,we propose a novel adaptive dynamic dehazing framework that…
Non-contact manipulation has emerged as a transformative approach across various industrial fields. However, current flexible 2D and 3D non-contact manipulation techniques are often limited to microscopic scales, typically controlling…
This paper presents a design methodology of a hydraulically-driven soft robotic gripper for grasping a large and heavy object -- approximately 10 - 20 kg with 20 - 30 cm diameter. Most existing soft grippers are pneumatically actuated with…
Navigation for blind persons represents a challenge for researchers in vision substitution. In this field, one of the used techniques to navigate is guidance. In this study, we develop a new approach for 3D trajectory following in which the…
Flexible tendon sheath mechanism is commonly used in NOTES systems because it offers high flexibility, light weight, and easy transmission. Due to the size constraints and sterilization problems, traditional sensors like force/torque sensor…
Hand-held haptic devices can allow for greater freedom of motion and larger workspaces than traditional grounded haptic devices. They can also provide more compelling haptic sensations to the users' fingertips than many wearable haptic…
Recently, several point-based image editing methods (e.g., DragDiffusion, FreeDrag, DragNoise) have emerged, yielding precise and high-quality results based on user instructions. However, these methods often make insufficient use of…
Grasping moving objects is a challenging task that requires multiple submodules such as object pose predictor, arm motion planner, etc. Each submodule operates under its own set of meta-parameters. For example, how far the pose predictor…
Domain wall (DW) devices have garnered recent interest for diverse applications including memory, logic, and neuromorphic primitives; fast, accurate device models are therefore imperative for large-scale system design and verification.…
Creating high-quality anime illustrations presents notable challenges, particularly for beginners, due to the intricate styles and fine details inherent in anime art. We present an interactive drawing guidance system specifically designed…
Electrowetting on textured and lubricant infused surfaces is conventionally expected to promote enhanced droplet spreading by reducing apparent contact angles. Contrary to this intuition, we report rapid tangential droplet ejection at…