Related papers: FootTile: a Rugged Foot Sensor for Force and Cente…
Tire mounted sensors are emerging as a promising technology, capable of providing information about important tire states. This paper presents a survey of the state-of-the-art in the field of smart tire technology, with a special focus on…
Flexible robots have advantages over rigid robots in their ability to conform physically to their environment and to form a wide variety of shapes. Sensing the force applied by or to flexible robots is useful for both navigation and…
Vision-based tactile sensors (VBTSs) are a promising technology for robots, providing them with dense signals that can be translated into a multi-faceted understanding of contact. However, existing VBTS tactile surfaces make use of silicone…
Collaborative robots stand to have an immense impact on both human welfare in domestic service applications and industrial superiority in advanced manufacturing with dexterous assembly. The outstanding challenge is providing robotic…
Robots are expected to grasp a wide range of objects varying in shape, weight or material type. Providing robots with tactile capabilities similar to humans is thus essential for applications involving human-to-robot or robot-to-robot…
Incorporating effective tactile sensing and mechanical compliance is key towards enabling robust and safe operation of robots in unknown, uncertain and cluttered environments. Towards realizing this goal, we present a lightweight,…
Detection of slip during object grasping and manipulation plays a vital role in object handling. Existing solutions primarily rely on visual information to devise a strategy for grasping. However, for robotic systems to attain a level of…
The concept of intelligent tires has drawn attention of researchers in the areas of autonomous driving, advanced vehicle control, and artificial intelligence. The focus of this paper is on intelligent tires and the application of machine…
For full-size humanoid robots, even with recent advances in reinforcement learning-based control, achieving reliable locomotion on complex terrains, such as long staircases, remains challenging. In such settings, limited perception,…
There has been a controversy as to whether or not the non-pathological flat foot and high-arched foot have an effect on human walking activities. The 3D foot scanning system was employed to obtain static footprints from subjects adopting a…
This paper introduces a novel six-axis force/torque sensor tailored for compact and lightweight legged robots. Unlike traditional strain gauge-based sensors, the proposed non-contact design employs photocouplers, enhancing resistance to…
We proposed a new type of tactile sensor that is capable of determining the surface morphology of skin lesions. The sensor consists of a brass cylinder with an axial bore. Three peripheral bobbins were machined in the cylinder around which…
Most legged robots are built with leg structures from serially mounted links and actuators and are controlled through complex controllers and sensor feedback. In comparison, animals developed multi-segment legs, mechanical coupling between…
This paper presents a miniature tension sensor using a photo-reflector, designed for compact tendon-driven grippers and robotic hands. The proposed sensor has a small form factor of 13~mm x 7~mm x 6.5~mm and is capable of measuring tensile…
Quadrupedal locomotion over complex terrain has been a long-standing research topic in robotics. While recent reinforcement learning-based locomotion methods improve generalizability and foot-placement precision, they rely on implicit…
With rapid advancements in exoskeleton hardware technologies, successful assessment and accurate control remain challenging. This study introduces a modular sensor-based system to enhance biomechanical evaluation and control in lower-limb…
As floor-sensing technologies gain traction in movement research, questions remain about their usability and effectiveness for non-expert users. This study presents a case study evaluating Flexel, a modular, low-cost, high-resolution…
Research on tactile sensing has been progressing at constant pace. In robotics, tactile sensing is typically studied in the context of object grasping and manipulation. In this domain, the development of robust, multi-modal, tactile sensors…
Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…
Force estimation is the core indicator for evaluating the performance of tactile sensors, and it is also the key technical path to achieve precise force feedback mechanisms. This study proposes a design method for a visual tactile sensor…